Related papers: Friction Variability in Planar Pushing Data: Aniso…
The bulk dynamics of dense granular materials arise through a combination of particle-scale and mesoscale effects. Theoretical and numerical studies have shown that collective effects are created by particle-scale anisotropic structures…
Precise and flexible cart-pushing is a challenging task for mobile robots. The motion constraints during cart-pushing and the robot's redundancy lead to complex motion planning problems, while variable payloads and disturbances present…
Fractal patterns are observed in computational mechanics of elastic-plastic transitions in two models of linear elastic/perfectly-plastic random heterogeneous materials: (1) a composite made of locally isotropic grains with weak random…
Frictional forces are a key ingredient of any physical description of the macroscopic world, as they account for the phenomena causing transformation of mechanical energy into heat. They are ubiquitous in nature, and a wide range of…
Granular materials densify under repeated mechanical perturbations, a nonequilibrium dynamics that underlies many natural and industrial processes. Because granular relaxation is governed by frictional contacts and energy dissipation, this…
We propose a theory of shear flow in dense granular materials. A key ingredient of the theory is an effective temperature that determines how the material responds to external driving forces such as shear stresses and vibrations. We show…
The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of…
Human teams are able to easily perform collaborative manipulation tasks. However, for a robot and human to simultaneously manipulate an extended object is a difficult task using existing methods from the literature. Our approach in this…
Data collection has become an increasingly important problem in robotic manipulation, yet there still lacks much understanding of how to effectively collect data to facilitate broad generalization. Recent works on large-scale robotic data…
In this research, we have developed the data driven computational walking model to overcome the problem with traditional kinematics based model. Our model is adaptable and can adjust the parameter morphological similar to human. The human…
Plasticity modelling has long been based on phenomenological models based on ad-hoc assuption of constitutive relations, which are then fitted to limited data. Other work is based on the consideration of physical mechanisms which seek to…
In robotic grasping, objects are often occluded in ungraspable configurations such that no pregrasp pose can be found, eg large flat boxes on the table that can only be grasped from the side. Inspired by humans' bimanual manipulation, eg…
Macroscopic friction coefficients observed in experiments are the result of various types of complex multiscale interactions between sliding surfaces. Therefore, there are several ways to modify them depending on the physical phenomena…
In this paper we tackle the problem of visually predicting surface friction for environments with diverse surfaces, and integrating this knowledge into biped robot locomotion planning. The problem is essential for autonomous robot…
Planning robust robot manipulation requires good forward models that enable robust plans to be found. This work shows how to achieve this using a forward model learned from robot data to plan push manipulations. We explore learning methods…
The position and the orientation of a rigid body object pushed by a robot on a planar surface are extremely difficult to predict. In this paper, the prediction problem is formulated as a disturbance observer design problem. The disturbance…
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…
Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic…
When a gravitating object moves across a given mass distribution, it creates an overdense wake behind it. Here, we performed an analytical study of the structure of the flow far from object when the flow is isentropic and the object moves…
We consider the problem of grasping deformable objects with soft shells using a robotic gripper. Such objects have a center-of-mass that changes dynamically and are fragile so prone to burst. Thus, it is difficult for robots to generate…