Related papers: Enumeration, structural and dimensional synthesis …

The unrealizability of a specification is often due to the assumption that the behavior of the environment is unrestricted. In this paper, we present algorithms for synthesis in bounded environments, where the environment can only generate…

Developing embedded systems is a complex endeavor that frequently requires collaborative teamwork. With the rise of freelance work and the global shift towards remote work, the need for effective remote collaboration has become crucial for…

An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots…

Developing robotic hands that adapt to real-world dynamics remains a fundamental challenge in robotics and machine intelligence. Despite significant advances in replicating human hand kinematics and control algorithms, robotic systems still…

We propose a physics-based method for synthesizing dexterous hand-object interactions in a full-body setting. While recent advancements have addressed specific facets of human-object interactions, a comprehensive physics-based approach…

Generating high-quality instance-wise grasp configurations provides critical information of how to grasp specific objects in a multi-object environment and is of high importance for robot manipulation tasks. This work proposed a novel…

Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures…

Handovers are basic yet sophisticated motor tasks performed seamlessly by humans. They are among the most common activities in our daily lives and social environments. This makes mastering the art of handovers critical for a social and…

The goal of this thesis is to present my research contributions towards solving various visual synthesis and generation tasks, comprising image translation, image completion, and completed scene decomposition. This thesis consists of five…

Can we make virtual characters in a scene interact with their surrounding objects through simple instructions? Is it possible to synthesize such motion plausibly with a diverse set of objects and instructions? Inspired by these questions,…

Whole-body 3D human mesh estimation aims to reconstruct the 3D human body, hands, and face simultaneously. Although several methods have been proposed, accurate prediction of 3D hands, which consist of 3D wrist and fingers, still remains…

For successful object manipulation with robotic hands, it is important to ensure that the object remains in the grasp at all times. In addition to grasp constraints associated with slipping and singular hand configurations, excessive…

As the complexity and heterogeneity of a system grows, the challenge of specifying, documenting and synthesizing correct, machine-readable designs increases dramatically. Separation of the system into manageable parts is needed to support…

We contribute results for a set of fundamental problems in the context of programmable matter by presenting algorithmic methods for evaluating and manipulating a collective of particles by a finite automaton that can neither store…

Robotic grippers are the end effector in the robot system of handling any task which used for performing various operations for the purpose of industrial application and hazardous tasks.In this paper, we developed the mathematical model for…

Manipulation tasks can often be decomposed into multiple subtasks performed in parallel, e.g., sliding an object to a goal pose while maintaining contact with a table. Individual subtasks can be achieved by task-axis controllers defined…

A dexterous hand capable of grasping any object is essential for the development of general-purpose embodied intelligent robots. However, due to the high degree of freedom in dexterous hands and the vast diversity of objects, generating…

We present in-hand manipulation skills on a dexterous, compliant, anthropomorphic hand. Even though these skills were derived in a simplistic manner, they exhibit surprising robustness to variations in shape, size, weight, and placement of…

Achieving human-like dexterous robotic manipulation remains a central goal and a pivotal challenge in robotics. The development of Artificial Intelligence (AI) has allowed rapid progress in robotic manipulation. This survey summarizes the…

Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…