Related papers: Selecting and Designing Grippers for an Assembly T…

Granular jamming is a popular soft actuation mechanism that provides high stiffness variability with minimum volume variation. Jamming is particularly interesting from a design perspective, as a myriad of design parameters can potentially…

Autonomous multi-finger grasping is a fundamental capability in robotic manipulation. Optimization-based approaches show strong performance, but tend to be sensitive to initialization and are potentially time-consuming. As an alternative,…

Few-shot part segmentation aims to separate different parts of an object given only a few annotated samples. Due to the challenge of limited data, existing works mainly focus on learning classifiers over pre-trained features, failing to…

Robotic grinding is widely used for shaping workpieces in manufacturing, but it remains difficult to automate this process efficiently. In particular, efficiently grinding workpieces of different shapes and material hardness is challenging…

We present the Shape Part Slot Machine, a new method for assembling novel 3D shapes from existing parts by performing contact-based reasoning. Our method represents each shape as a graph of ``slots,'' where each slot is a region of contact…

We use computer simulations to investigate self-assembly in a system of model chaperonin proteins, and in an Ising lattice gas. We discuss the mechanisms responsible for rapid and efficient assembly in these systems, and we use measurements…

The tolerancing process links the virtual and the real worlds. From the former, tolerances define a variational geometrical language (geometric parameters). From the latter, there are values limiting those parameters. The beginning of a…

This paper aims to improve robots' versatility and adaptability by allowing them to use a large variety of end-effector tools and quickly adapt to new tools. We propose AdaGrasp, a method to learn a single grasping policy that generalizes…

Comparing robotic cloth-manipulation systems in a real-world setup is challenging. The fidelity gap between simulation-trained cloth neural controllers and real-world operation hinders the reliable deployment of these methods in physical…

This paper introduces a new shape-matching methodology, combinative matching, to combine interlocking parts for geometric shape assembly. Previous methods for geometric assembly typically rely on aligning parts by finding identical surfaces…

3D printing enables the fabrication of complex architectures by automating long sequences of additive steps. The increasing sophistication of printers, materials, and generative design promises to make geometric complexity a non-issue in…

Grasp planning and most specifically the grasp space exploration is still an open issue in robotics. This article presents a data-driven oriented methodology to model the grasp space of a multi-fingered adaptive gripper for known objects.…

Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…

This paper develops a mechanical tool as well as its manipulation policies for 2-finger parallel robotic grippers. It primarily focuses on a mechanism that converts the gripping motion of 2-finger parallel grippers into a continuous…

In this work, a modular approach is introduced to select the most important eigenmodes for each component of a composed structural dynamics system to obtain the required accuracy of the reduced-order assembly model. To enable the use of…

The manipulation of garments poses research challenges due to their deformable nature and the extensive variability in shapes and sizes. Despite numerous attempts by researchers to address these via approaches involving robot perception and…

Crafting computer-aided design (CAD) models has long been a painstaking and time-intensive task, demanding both precision and expertise from designers. With the emergence of 3D generation, this task has undergone a transformative impact,…

Design prototyping involves creating mockups of products or concepts to gather feedback and iterate on ideas. While prototyping often requires specific parts of objects, such as when constructing a novel creature for a video game, existing…

Microspine grippers are small spines commonly found on insect legs that reinforce surface interaction by engaging with asperities to increase shear force and traction. An array of such microspines, when integrated into the limbs or…

Autonomous 3D part assembly is a challenging task in the areas of robotics and 3D computer vision. This task aims to assemble individual components into a complete shape without relying on predefined instructions. In this paper, we…