Related papers: Optimization-based Feedback Manipulation Through a…
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…
The interaction of ultrasonic waves with fluid-embedded viscoelastic plates, pipes, and shells, have been subject to extensive theoretical and experimental studies over several decades. In normal-incidence through-transmission measurements…
Programmable metasurfaces incorporated with tunable materials controlled by external stimuli can provide an unprecedented degree of freedom in dynamical wave manipulation in real-time. Beyond the scope of isotropic reconfigurable…
Spatiotemporal metasurfaces, characterized by dynamic variations in both space and time, enable functionalities unattainable with passive metasurfaces. In this study, we propose a novel concept of parametric metasurfaces capable of…
This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection. The fully actuated tilt-rotor aerial system is equipped…
Tactile information is important for gripping, stable grasp, and in-hand manipulation, yet the complexity of tactile data prevents widespread use of such sensors. We make use of an unsupervised learning algorithm that transforms the complex…
Actuation and control of motion in micro-mechanical systems are technological challenges, since they are accompanied by mechanical friction and wear, principal and well known sources of device lifetime reduction. In this theoretical work we…
We developed a new aerial push-button with tactile feedback using focused airborne ultrasound. This study has two significant novelties compared to past related studies: 1) ultrasound emitters are equipped behind the user's finger and…
Sound can exert forces on objects of any material and shape. This has made the contactless manipulation of objects by intense ultrasound a fascinating area of research with wide-ranging applications. While much is understood for acoustic…
Traditionally one defines the speed of a wave as a property of the medium. Recent studies in photonics have challenged this idea, indicating that spatial shaping of the optical wavefront has can alter the arrival time of single photons when…
Electromagnetic wave manipulation plays a crucial role in advancing technology across various domains, including photonic device design. This study presents an inverse design approach for a periodic medium that optimizes electromagnetic…
We present a simple electromechanical finite difference model to study the response of a piezoelectric polyvinylidenflourid (PVDF) transducer to optoacoustic (OA) pressure waves in the acoustic nearfield prior to thermal relaxation of the…
Example-based mesh deformation methods are powerful tools for realistic shape editing. However, existing techniques typically combine all the example deformation modes, which can lead to overfitting, i.e. using a overly complicated model to…
Manipulation surfaces indirectly control and reposition objects by actively modifying their shape or properties rather than directly gripping objects. These surfaces, equipped with dense actuator arrays, generate dynamic deformations.…
Long-term non-prehensile planar manipulation is a challenging task for planning and control, requiring determination of both continuous and discrete contact configurations, such as contact points and modes. This leads to the non-convexity…
In this work, we present a multimodal system for active robot-object interaction using laser-based SLAM, RGBD images, and contact sensors. In the object manipulation task, the robot adjusts its initial pose with respect to obstacles and…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
We evaluate the advantages of performing cross-phase modulation (XPM) on a very-far-off-resonance atomic system. We consider a ladder system with a weak (few-photon level) control coherent field imparting a conditional nonlinear phase shift…
The investigation of metasurface, which is of great current interest, has opened up new degrees of freedom to research metamaterials. In this paper, we propose an ultrathin acoustic metasurface consisting of a series of structurally simple…
In this paper, we propose a novel approach for controlling surface water waves and their interaction with floating bodies. We consider a floating target rigid body surrounded by a control region where we design three control strategies of…