Related papers: Contact Points Discovery for Soft-Body Manipulatio…
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,…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
Within a model where micrometer-size soft colloidal particles are viewed as liquid drops, we theoretically study the contact interaction between them. We compute the exact deformation energy across a broad range of indentations and for…
Collision detection between objects is critical for simulation, control, and learning for robotic systems. However, existing collision detection routines are inherently non-differentiable, limiting their applications in gradient-based…
Understanding lattice deformations is crucial in determining the properties of nanomaterials, which can become more prominent in future applications ranging from energy harvesting to electronic devices. However, it remains challenging to…
In the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…
Solid contacts involving soft materials are important in mechanical engineering or biomechanics. Experimentally, such contacts have been shown to shrink significantly under shear, an effect which is usually explained using adhesion models.…
Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While vision-based policies perform well in structured settings,…
Gradient-based methods can efficiently optimize controllers by leveraging differentiable simulation and physical priors. However, contact-rich manipulation remains challenging because hybrid contact dynamics often produce discontinuous or…
In this paper, we explore an approach to actively plan and excite contact modes in differentiable simulators as a means to tighten the sim-to-real gap. We propose an optimal experimental design approach derived from information-theoretic…
Recent monocular human performance capture approaches have shown compelling dense tracking results of the full body from a single RGB camera. However, existing methods either do not estimate clothing at all or model cloth deformation with…
Preserving semantics, in particular in terms of contacts, is a key challenge when retargeting motion between characters of different morphologies. Our solution relies on a low-dimensional embedding of the character's mesh, based on rigged…
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…
Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators…
Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually…
Continuum robots offer high flexibility and multiple degrees of freedom, making them ideal for navigating narrow lumens. However, accurately modeling their behavior under large deformations and frequent environmental contacts remains…
Currently, manipulation tasks for deformable objects often focus on activities like folding clothes, handling ropes, and manipulating bags. However, research on contact-rich tasks involving deformable objects remains relatively…
Detection of dynamic surface displacements associated with local changes in material strain provides access to a number of phenomena and material properties. Contact resonance-enhanced methods of Atomic Force Microscopy (AFM) have been…
In a wide range of practical problems, such as forming operations and impact tests, assuming that one of the contacting bodies is rigid is an excellent approximation to the physical phenomenon. In this work, the well-established dual mortar…
This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…