Related papers: Sculpt, Deploy, Repeat: Fast Prototyping of Intera…
Clay sculpting is a nuanced, artistic task involving dexterous manipulation with long-horizon planning to achieve high-level goals. As a robotics problem, we formulate clay sculpting as a shape-to-shape matching challenge. Prior deformable…
Digital sculpting is a popular means to create 3D models but remains a challenging task for many users. This can be alleviated by recent advances in data-driven and procedural modeling, albeit bounded by the underlying data and procedures.…
Robotic assembly is one of the oldest and most challenging applications of robotics. In other areas of robotics, such as perception and grasping, simulation has rapidly accelerated research progress, particularly when combined with modern…
MindSculpt enables users to generate a wide range of hybrid geometries in Grasshopper in real time simply by thinking about those geometries. This design tool combines a brain-computer interface (BCI) with the parametric design platform…
We present a system that allows users to visualize complex human motion via 3D motion sculptures---a representation that conveys the 3D structure swept by a human body as it moves through space. Given an input video, our system computes the…
Incorporating accurate physics-based simulation into interactive design tools is challenging. However, adding the physics accurately becomes crucial to several emerging technologies. For example, in virtual/augmented reality (VR/AR) videos,…
The system design and algorithm development of mobile 3D printing robots need a realistic simulation. They require a mobile robot simulation platform to interoperate with a physics-based material simulation for handling interactions between…
3D objects (artefacts) are made to fulfill functions. Designing an object often starts with defining a list of functionalities that it should provide, also known as functional requirements. Today, the design of 3D object models is still a…
Physical input devices serve as a tactile interface between users and computing systems. These devices are often complex assemblies that consist of both electrical and mechanical components making customization difficult and out of reach…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
We present Shape-Haptics, an approach for designers to rapidly design and fabricate passive force feedback mechanisms for physical interfaces. Such mechanisms are used in everyday interfaces and tools, and they are challenging to design.…
Deformable object manipulation remains a key challenge in developing autonomous robotic systems that can be successfully deployed in real-world scenarios. In this work, we explore the challenges of deformable object manipulation through the…
Soft deployable structures - unlike conventional piecewise rigid deployables based on hinges and springs - can assume intricate 3-D shapes, thereby enabling transformative technologies in soft robotics, shape-morphing architecture, and…
Softening and onboarding computers and controllers is one of the final frontiers in soft robotics towards their robustness and intelligence for everyday use. In this regard, embodying soft and physical computing presents exciting potential.…
This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…
Robotic grinding is widely used for shaping workpieces in manufacturing, but it remains difficult to automate this process efficiently. In particular, efficiently grinding workpieces of different shapes and material hardness is challenging…
Morphing materials allow us to create new modalities of interaction and fabrication by leveraging dynamic behaviors of materials. Yet, despite the ongoing rapid growth of computational tools within this realm, current developments are…
Creating a physical digital twin of a real-world object has immense potential in robotics, content creation, and XR. In this paper, we present PhysTwin, a novel framework that uses sparse videos of dynamic objects under interaction to…
Accurately digitizing physical objects is central to many applications, including virtual/augmented reality, industrial design, and e-commerce. Prior research has demonstrated efficient and faithful reconstruction of objects' geometric…
Manipulating deformable objects remains a challenge within robotics due to the difficulties of state estimation, long-horizon planning, and predicting how the object will deform given an interaction. These challenges are the most pronounced…