Related papers: Passive Static Equilibrium with Frictional Contact…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
Humans naturally grasp objects with minimal level required force for stability, whereas robots often rely on rigid, over-squeezing control. To narrow this gap, we propose a human-inspired physics-conditioned tactile method (Phy-Tac) for…
This article illustrates the role of friction on the motion of a rolling sphere on pedagogical example. We use a parabolic support rotating around it axis to study the static equilibrium positions of a single sphere. Due to the particular…
We consider a many-to-one variant of the stable matching problem. More concretely, we consider the variant of the stable matching problem where one side has a matroid constraint. Furthermore, we consider the situation where the preference…
In this study, we propose new global stabilization approaches for a class of polynomial systems in both model-based and data-driven settings. The existing model-based approach guarantees global asymptotic stability of the closed-loop system…
A simple model for solid friction is analyzed. It is based on tangential springs representing interlocked asperities of the surfaces in contact. Each spring is given a maximal strain according to a probability distribution. At their maximal…
Robotic grasp detection is a fundamental capability for intelligent manipulation in unstructured environments. Previous work mainly employed visual and tactile fusion to achieve stable grasp, while, the whole process depending heavily on…
The stable allocation problem is one of the broadest extensions of the well-known stable marriage problem. In an allocation problem, edges of a bipartite graph have capacities and vertices have quotas to fill. Here we investigate the case…
Stochastic dynamic matching problems have recently gained attention in the stochastic-modeling community due to their diverse applications, such as supply-chain management and kidney exchange programs. In this paper, we study a matching…
A mathematical model of dynamic interaction between mining and processing industries is formalized and studied in the paper. The process of interaction is described by a system of two delay differential equations. The criterion for…
3D grasp synthesis generates grasping poses given an input object. Existing works tackle the problem by learning a direct mapping from objects to the distributions of grasping poses. However, because the physical contact is sensitive to…
Stability is a fundamental concept that refers to a system's ability to return close to its original state after disturbances. The minimal conditions for stability when system parameters vary in time, though common in physics, have been…
This paper presents a novel control approach to dealing with object slip during robotic manipulative movements. Slip is a major cause of failure in many robotic grasping and manipulation tasks. Existing works increase grip force to…
In this paper we provide a complete link between dissipation theory and a celebrated result on stability analysis with integral quadratic constraints. This is achieved with a new stability characterization for feedback interconnections…
Formulating a consistent theory for rigid-body dynamics with impacts is an intricate problem. Twenty years ago Stewart published the first consistent theory with purely inelastic impacts and an impulsive friction model analogous to Coulomb…
In this paper, we develop and analyze an integral fixed-time sliding mode control method for a scenario in which the system model is only partially known, utilizing Gaussian processes. We present two theorems on fixed-time convergence. The…
We investigate in-hand regrasping by pushing an object against an external constraint and allowing sliding at the fingertips. Each fingertip is modeled as attached to a multidimensional spring mounted to a position-controlled anchor. Spring…
We use numerical simulations to study the dynamics of dense assemblies of self-propelled particles in the limit of extremely large, but finite, persistence times. In this limit, the system evolves intermittently between mechanical…
Learning the skill of human bimanual grasping can extend the capabilities of robotic systems when grasping large or heavy objects. However, it requires a much larger search space for grasp points than single-hand grasping and numerous…
To study the microscopic origins of friction, we build a framework to describe the collective behaviour of a large number of individual micro-junctions forming a macroscopic frictional interface. Each micro-junction can switch in time…