Related papers: Connected Assembly and Reconfiguration by Finite A…
We introduce RAMP, an open-source robotics benchmark inspired by real-world industrial assembly tasks. RAMP consists of beams that a robot must assemble into specified goal configurations using pegs as fasteners. As such, it assesses…
We explore the connections between automata, groups, limit spaces of self-similar actions, and tilings. In particular, we show how a group acting ``nicely'' on a tree gives rise to a self-covering of a topological groupoid, and how the…
Furniture assembly is a crucial yet challenging task for robots, requiring precise dual-arm coordination where one arm manipulates parts while the other provides collaborative support and stabilization. To accomplish this task more…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
Automata-based modeling languages, like Component Interaction Automata, offer an attractive means to capture and analyze the behavioral aspects of interacting components. At the center of these modeling languages we find finite state…
This work is related to PHG (Parallel Hierarchical Grid). PHG is a toolbox for developing parallel adaptive finite element programs, which is under active development at the State Key Laboratory of Scientific and Engineering Computing. The…
Modular reconfigurable robots require reliable mechanisms for automated module exchange, but conventional rigid active couplings often fail due to inevitable positioning and orientational errors. To address this, we propose a…
We present algorithmic results for the parallel assembly of many micro-scale objects in two and three dimensions from tiny particles, which has been proposed in the context of programmable matter and self-assembly for building high-yield…
This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…
Autonomous reconfiguration of agent-based systems is a key challenge in the study of programmable matter, distributed robotics, and molecular self-assembly. While substantial prior work has focused on size-preserving transformations, much…
Assembly of multi-part physical structures is both a valuable end product for autonomous robotics, as well as a valuable diagnostic task for open-ended training of embodied intelligent agents. We introduce a naturalistic physics-based…
In this paper we establish an abstraction of on-the-fly determinization of finite-state automata using transition monoids and demonstrate how it can be applied to bound the asymptotics. We present algebraic and combinatorial properties that…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…
Designing heterogeneous, self-assembling systems is a central challenge in soft matter and biology. We present a framework that uses gradient-based optimization to invert an analytical yield calculation, tuning systems toward target…
This paper presents a conforming thin plate bending element based on the Partition of Unity Finite Element Method (PUFEM), for the simulation of steady-state forced vibration. The issue of ensuring the continuity of displacement and slope…
The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
This paper introduces a cube-based reconfigurable robot that utilizes an electromagnet-based actuation framework to reconfigure in three dimensions via pivoting. While a variety of actuation mechanisms for self-reconfigurable robots have…
Partition refinement is a method for minimizing automata and transition systems of various types. Recently, we have developed a partition refinement algorithm that is generic in the transition type of the given system and matches the run…