Related papers: Optimized Synthesis of Snapping Fixtures
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…
A heap is a dynamic data structure that stores a set of labeled values under the following operations: pop returns the minimum value of the heap, Push($x_i$) pushes a new value $x_i$ onto the heap, and DecreaseKey($i$, $v$) decreases the…
This paper proposes an adaptive pin-array fixture. The key idea of this research is to use the shape-memorable mechanism of pin array to fix multiple different shaped parts with common pin configuration. The clamping area consists of a…
Like the letters in the alphabet forming words, reusing components of a heterogeneous mixture is an efficient strategy for assembling a large number of target structures. Examples range from synthetic DNA origami to proteins self-assembling…
In the particular case we have insertions/deletions at the tail of a given set S of $n$ one-dimensional elements, we present a simpler and more concrete algorithm than that presented in [Anderson, 2007] achieving the same (but also…
Self-assembly is one of the prevalent strategies used by living systems to fabricate ensembles of precision nanometer-scale structures and devices. The push for analogous approaches to create synthetic nanomaterials has led to the…
This work presents a framework for a robot with a multi-fingered hand to freely utilize daily tools, including functional parts like buttons and triggers. An approach heatmap is generated by selecting a functional finger, indicating optimal…
For robot arms to perform everyday tasks in unstructured environments, these robots must be able to manipulate a diverse range of objects. Today's robots often grasp objects with either soft grippers or rigid end-effectors. However, purely…
In this paper we study {\em terminal embeddings}, in which one is given a finite metric $(X,d_X)$ (or a graph $G=(V,E)$) and a subset $K \subseteq X$ of its points are designated as {\em terminals}. The objective is to embed the metric into…
Handling oversized, variable-shaped, or delicate objects in transportation, grasping tasks is extremely challenging, mainly due to the limitations of the gripper's shape and size. This paper proposes a novel gripper, Lasso Gripper. Inspired…
A Fixed-Parameter Tractable (\FPT) $\rho$-approximation algorithm for a minimization (resp. maximization) parameterized problem $P$ is an FPT algorithm that, given an instance $(x, k)\in P$ computes a solution of cost at most $k \cdot…
Ants are highly capable of grasping objects in clutter, and we have recently observed that this involves substantial use of their forelegs. The forelegs, more specifically the tarsi, have high friction microstructures (setal pads), are…
We initiate the study of the following natural geometric optimization problem. The input is a set of axis-aligned rectangles in the plane. The objective is to find a set of horizontal line segments of minimum total length so that every…
This paper presents a novel industrial robotic gripper with a high grasping speed (maximum: 1396 mm/s), high tip force (maximum: 80 N) for grasping, large motion range, and lightweight design (0.3 kg). To realize these features, the…
This study proposes a novel robotic gripper with variable grasping configurations for grasping various objects. The fingers of the developed gripper incorporate multiple different surfaces. The gripper possesses the function of altering the…
In this paper, we present a new polygonal finite element method, called the Zipped Finite Element Method, for star-shaped polygons. The proposed approach constructs high-order shape functions as linear combinations of standard finite…
This work tackles the problem of task-oriented dexterous hand pose synthesis, which involves generating a static hand pose capable of applying a task-specific set of wrenches to manipulate objects. Unlike previous approaches that focus…
We propose a method of trapping atoms in arrays near to the surface of a composite nanophotonic device with optimal coupling to a single cavity mode. The device, comprised of a nanofiber mounted on a grating, allows the formation of…
We study the problem of maximizing a non-monotone submodular function under multiple knapsack constraints. We propose a simple discrete greedy algorithm to approach this problem, and prove that it yields strong approximation guarantees for…
We present a screw geometry-based manipulation planning framework for the robotic automation of solution-based synthesis, exemplified through the preparation of gold and magnetite nanoparticles. The synthesis protocols are inherently…