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A mathematical model for wire rolling is developed, focusing on predicting the lateral spread. This provides, for the first time, an analytic model of lateral spread without any fitting parameters. The model is derived directly from the…
High speed machining has been improved thanks to considerable advancement on the tools (optimum geometry, harder materials), on machined materials (increased workability and machining capacity for harder workpieces) and finally on the…
Action-conditioned robot world models generate future video frames of the manipulated scene given a robot action sequence, offering a promising alternative for simulating tasks that are difficult to model with traditional physics engines.…
Rubber friction is of major practical importance in applications such as tires, rubber seals, and footwear. This review article focuses on the theory and experimental studies of rubber friction on substrates with random roughness. We…
A robust grip is key to successful manipulation and joining of work pieces involved in any industrial assembly process. Stability of a grip depends on geometric and physical properties of the object as well as the gripper itself. Current…
Prediction skills can be crucial for the success of tasks where robots have limited time to act or joints actuation power. In such a scenario, a vision system with a fixed, possibly too low, sampling rate could lead to the loss of…
Robustness to natural distribution shifts has seen remarkable progress thanks to recent pre-training strategies combined with better fine-tuning methods. However, such fine-tuning assumes access to large amounts of labelled data, and the…
Accurate prediction of the force required to puncture a soft material is critical in many fields like medical technology, food processing, and manufacturing. However, such a prediction strongly depends on our understanding of the complex…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
In medicolegal situations, the consequences of a stabbing incident are described in terms that are qualitative without being quantitative. Here, the mechanical variables involved in knife-tissue penetration events are used to determine the…
This paper is concerned with the problem of estimating (interpolating and smoothing) the shape (pose and the six modes of deformation) of a slender flexible body from multiple camera measurements. This problem is important in both biology,…
We apply reinforcement learning (RL) to robotics tasks. One of the drawbacks of traditional RL algorithms has been their poor sample efficiency. One approach to improve the sample efficiency is model-based RL. In our model-based RL…
Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…
This paper presents TubeBEND, a real-world dataset comprising 318 rotary tube bending processes, which were collected and sorted by experts from various fields to evaluate machine learning and signal analysis methods. The dataset addresses…
Accurate manipulation of a deformable body such as a piece of fabric is difficult because of its many degrees of freedom and unobservable properties affecting its dynamics. To alleviate these challenges, we propose the application of…
The rupture of rubber differs from conventional fracture. It is supersonic, and the speed is determined by strain levels ahead of the tip rather than total strain energy as for ordinary cracks. Dissipation plays a very important role in…
We test the standard model for the length contraction of a bundle of strings under twist, and find deviation that is significantly greater than typically appreciated and that has a different nature at medium and large twist angles. By…
Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in…
The actual progression of pitting on ball screw drive spindles is not well known since previous studies have only relied on the investigation of indirect wear effects (e. g. temperature, motor current, structure-borne noise). Using images…
The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbances which affect the dynamics. Recently, stochastic optimal…