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Elastic contact in hydrodynamic environments is a complex multiphysics phenomenon and can be found in applications ranging from engineering to biological systems. Understanding the intricacies of this coupled problem requires the…
This paper presents a method for the optimization of multi-component structures comprised of two and three materials considering large motion sliding contact and separation along interfaces. The structural geometry is defined by an explicit…
A molecular-dynamics type simulation method, which is suitable for investigating the dewetting dynamics of thin and viscous liquid layers, is discussed. The efficiency of the method is exemplified by studying a two-parameter depinning-like…
This paper presents a general and robust method for the fluid-structure interaction of membranes and shells undergoing large displacement and large added-mass effects by coupling an immersed-boundary method with a shell finite-element…
Pressure Field Contact (PFC) was recently introduced as a method for detailed modeling of contact interface regions at rates much faster than elasticity-theory models, while at the same time predicting essential trends and capturing rich…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
We introduce InteractVLM, a novel method to estimate 3D contact points on human bodies and objects from single in-the-wild images, enabling accurate human-object joint reconstruction in 3D. This is challenging due to occlusions, depth…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
In this paper, we discuss the mechanics and planning algorithms to slide an object on a horizontal planar surface via frictional patch contact made with its top surface. Here, we propose an asymmetric dual limit surface model to determine…
Thanks to recent advancements in the development of inexpensive, high-resolution tactile sensors, touch sensing has become popular in contact-rich robotic manipulation tasks. With the surge of data-driven methods and their requirement for…
A height-function-based numerical approach is developed for enforcing contact angles on flat and curved solid surfaces within two-dimensional volume-of-fluid simulations. This method incorporates the contact line position into the curvature…
A moving contact line occurs at the intersection of an interface formed between two immiscible liquids and a solid. According to viscous theory, the flow is entirely governed by just two parameters, the viscosity ratio, $\lambda$, and the…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
We developed a sharp interface level-set approach for two-phase immiscible flow with moving contact lines. The Cox-Voinov model is used to describe the moving contact line. A piecewise linear interface method is used to construct the signed…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
Physics simulation is ubiquitous in robotics. Whether in model-based approaches (e.g., trajectory optimization), or model-free algorithms (e.g., reinforcement learning), physics simulators are a central component of modern control pipelines…
We propose a model for unilateral contact with adhesion between a viscoelastic body and a rigid support, encompassing thermal and frictional effects. Following the approach by M. Fremond, adhesion is described in terms of a surface damage…
We present an immersed boundary projection method formulated in a body-fixed frame of reference for flow-structure interaction (FSI) problems involving rigid bodies with complex geometries. The body-fixed formulation is aimed at maximizing…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…