Related papers: Position and orientation control at micro- and mes…
Transformers are powerful visual learners, in large part due to their conspicuous lack of manually-specified priors. This flexibility can be problematic in tasks that involve multiple-view geometry, due to the near-infinite possible…
Recent research has demonstrated the usefulness of imitation learning in autonomous robot operation. In particular, teaching using four-channel bilateral control, which can obtain position and force information, has been proven effective.…
Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing,…
Here we demonstrate a synthetic micro-engine, based on long-range controlled movement of colloidal particles, which is induced by a local catalytic reaction. The directed motion at long timescales was achieved by placing specially designed…
Nonlocal metasurfaces are currently emerging as advanced tools for the manipulation of electromagnetic radiation, going beyond the widely explored Huygens metasurface concept. Nonetheless, the lack of an unified approach for their fast and…
Self-propelling micromotors are emerging as a promising microscale and nanoscale tool for single-cell analysis. We have recently shown that the field gradients necessary to manipulate matter via dielectrophoresis can be induced at the…
We demonstrate metasurfaces with strong polarization dichroism that depends on the angle of incidence. We present original designs obtained through topology optimization that selectively transmit specific linear or circular polarizations at…
Active (self-propelling) particles have emerged as innovative microscale tools in the field of single cell analysis with the advantages of being untethered, remotely controlled, hybrid powered, with sub-cellular precision. This study…
A general analytical approach to the study of electromagnetic resonances of metasurfaces consisting of meta-atoms with anisotropic electric and magnetic dipole polarizabilities and irradiated with obliquely incident light is developed in…
Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…
Waves impart momentum and exert force on obstacles in their path. The transfer of wave momentum is a fundamental mechanism for contactless manipulation, yet the rules of conventional scattering intrinsically limit the radiation force based…
We propose and theoretically analyze methods for quantum many-body control through geometric reshaping of molecular tweezer arrays. Dynamic rearrangement during entanglement is readily available due to the extended coherence times of…
Ferroelectric materials are established candidates for beyond complementary metal-oxide-semiconductor technology, owing to their non-volatile spontaneous electrical polarization. The recent boom in electric dipole texture engineering and…
One of the motivations for the development of wirelessly guided untethered magnetic devices (UMDs), such as microrobots and nanorobots, is the continuous demand to manipulate, sort, and assemble micro-objects with high level of accuracy and…
This paper is a study of 2D manipulation without sensing and planning, by exploring the effects of unplanned randomized action sequences on 2D object pose uncertainty. Our approach follows the work of Erdmann and Mason's sensorless…
The dynamics of ideally polarizable spherical particles in concentrated suspensions under the effects of nonlinear electrokinetic phenomena is analysed using large-scale numerical simulations. Particles are assumed to carry no net charge…
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…
Electrically powered micro- and nanomotors are promising tools for in-vitro single-cell analysis. In particular, single cells can be trapped, transported and electroporated by a Janus particle (JP) using an externally applied electric…
Dexterous robotic manipulator teleoperation is widely used in many applications, either where it is convenient to keep the human inside the control loop, or to train advanced robot agents. So far, this technology has been used in…
Metasurfaces are planar structures that locally modify the polarization, phase, and amplitude of light in reflection or transmission, thus enabling lithographically patterned flat optical components with functionalities controlled by…