Related papers: Shape, Size, and Fabrication Effects in 3D Printed…
Recent advances in Gaussian Splatting have enabled fast, high-fidelity 3D scene generation, yet these methods remain purely visual and lack an understanding of how shapes behave in the physical world. We introduce Physics-Guided 3D Gaussian…
Grasping objects across vastly different sizes and physical states-including both solids and liquids-with a single robotic gripper remains a fundamental challenge in soft robotics. We present the Everything-Grasping (EG) Gripper, a soft…
The industrialization of Laser Additive Manufacturing (LAM) is challenged by the undesirable microstructures and high residual stresses originating from the fast and complex solidification process. Non-destructive assessment of the…
The engineering design of robotic grippers presents an ample design space for optimization towards robust grasping. In this paper, we adopt the reconfigurable design of the robotic gripper using a novel soft finger structure with…
Building and Construction have recently become an exciting application ground for robotics. In particular, rapid progress in materials formulation and in robotics technology has made robotic 3D Printing of concrete a promising technique for…
We study the local and global roughness scaling in growth models with grains at the film surfaces. The local roughness, measured as a function of window size r, shows a crossover at a characteristic length r_c, from a rapid increase with…
We report on grain dynamics versus depth for steady-state gravity-driven flow of grains along a heap formed between two parallel sidewalls. Near the surface the flow is steady and fast, while far below there is no flow whatsoever;…
We developed a grain growth model that is based on the energy minimisation of surfaces with respect to the volume energy and the grain's environment. We used the well-known FePt L1$_\text{0}$ system to discover the physical factors that…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
Patterning of graphene into micro- and nano-ribbons allows for the tunability in emerging fields such as flexible electronic and optoelectronic devices, and is gaining interest for the production of more efficient reinforcement for…
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…
Considering a 3D sheared granular layer modeled with discrete elements, it is well known the rolling resistance significantly influences the mechanical behavior. Even if the rolling resistance role has been deeply investigated as it is…
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…
Design - especially of physical objects - can be understood as creative acts solving practical problems. In this paper we describe a biologically-inspired developmental model as the basis of a generative form-finding system. Using local…
We have recently developed some simple continuum models of static granular media which display "fragile" behaviour: they predict that the medium is unable to support certain types of infinitesimal load (which we call "incompatible" loads)…
We present a molecular dynamics study of the jamming/unjamming transition in two-dimensional granular piles with open boundaries. The grains are modeled by viscoelastic forces, Coulomb friction and resistance to rolling. Two models for the…
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery, and household automation. However, developing grasp…
Granular materials such as sand, powders, foams etc. are ubiquitous in our daily life, as well as in industrial and geotechnical applications. Although these disordered systems form stable structures if unperturbed, in practice they do…
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an optimal grasp pose that enables stable pickup without damaging…
Creep mechanisms in uniaxially compressed 3D granular solids comprised of faceted frictionless grains are studied numerically using a constant pressure and constant stress simulation method. Rapid uniaxial compression followed by slow…