Related papers: A note on synthesizing geodesic based contact curv…
The study of hand-object interaction requires generating viable grasp poses for high-dimensional multi-finger models, often relying on analytic grasp synthesis which tends to produce brittle and unnatural results. This paper presents…
The main intention of the paper is to investigate an osculating curve under the conformal map. We obtain a sufficient condition for the conformal invariance of an osculating curve. We also find an equivalent system of a geodesic curve under…
The paper considers rotations at different scales in granular materials: the rotations of individual particles, the rolling and rigid-rotation of particle pairs, the rotational interactions of a particle within its cluster of neighbors, and…
In this paper we consider surfaces with one or two families of spherical curvature lines. We show that every surface with a family of spherical curvature lines can locally be generated by a pair of initial data: a suitable curve of Lie…
We study geodetic lines on a surface generated by a small deformation of the standard 2D-sphere. We construct an auxiliary hamiltonian system with the view of describing geodetic coils and almost closed geodesics, by using the fact that…
We study self-contact phenomena in elastic rods that are constrained to lie on a cylinder. By choosing a particular set of variables to describe the rod centerline the variational setting is made particularly simple: the strain energy is a…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
The behavior of an elastic curve bound to a surface will reflect the geometry of its environment. This may occur in an obvious way: the curve may deform freely along directions tangent to the surface, but not along the surface normal.…
This paper deals with finding surfaces in $\mathbb{R}^3$ which are as close as possible to being flat and span a given contour such that the contour is a geodesic on the sought surface. We look for a surface which minimizes the total…
Glovebox decommissioning tasks usually require manipulating relatively heavy objects in a highly constrained environment. Thus, contact with the surroundings becomes inevitable. In order to allow the robot to interact with the environment…
In recent years, an increasing amount of work has focused on differentiable physics simulation and has produced a set of open source projects such as Tiny Differentiable Simulator, Nimble Physics, diffTaichi, Brax, Warp, Dojo and DiffCoSim.…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
The aim of this paper is to find an optimal matching between manifold-valued curves, and thereby adequately compare their shapes, seen as equivalent classes with respect to the action of reparameterization. Using a canonical decomposition…
The mapping class group of a surface $\S$ acts on the set of closed geodesics on $\S$. This action preserves self-intersection number. In this paper, we count the orbits of curves with at most $K$ self-intersections, for each $K \geq 1$.…
We introduce the dynamic grasp synthesis task: given an object with a known 6D pose and a grasp reference, our goal is to generate motions that move the object to a target 6D pose. This is challenging, because it requires reasoning about…
This paper proposes a simple technique of curve and surface construction with B-splines. Given a control polygon or a control mesh together with node ordinates corresponding to all control points, a rational curve or surface is obtained by…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
A method to construct transition curves using a family of the quartic Bezier spiral is described. The transition curves discussed are S-shape and C-shape of contact, between two separated circles. A spiral is a curve of monotone increasing…
We give necessary and sufficient topological conditions for a simple closed curve on a real rational surface to be approximable by smooth rational curves. We also study approximation by smooth rational curves with given complex…
Direct methods for the simulation of optimal control problems apply a specific discretization to the dynamics of the problem, and the discrete adjoint method is suitable to calculate corresponding conditions to approximate an optimal…