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Modeling arbitrarily large deformations of surfaces smoothly embedded in three-dimensional space is challenging. The difficulties come from two aspects: the existing geometry processing or forward simulation methods penalize the difference…

Non-contact radar-based human sensing is often interpreted using simplified motion assumptions. However, respiration induces non-rigid surface deformation of the human body that impacts electromagnetic wave scattering and can degrade the…

This thesis presents a two-layer uniform facet elastic object for real-time simulation based on physics modeling method. It describes the elastic object procedural modeling algorithm with particle system from the simplest one-dimensional…

Intelligence lies not only in the brain (decision-making processes) but in the body (physical morphology). The morphology of robots can significantly influence how they interact with the physical world, crucial for manipulating objects in…

This paper investigates how learning can be used to ease the design of high-quality paths for the assembly of deformable objects. Object dynamics plays an important role when manipulating deformable objects; thus, detailed models are often…

Parametric models of humans, faces, hands and animals have been widely used for a range of tasks such as image-based reconstruction, shape correspondence estimation, and animation. Their key strength is the ability to factor surface…

This paper introduces DextAIRity, an approach to manipulate deformable objects using active airflow. In contrast to conventional contact-based quasi-static manipulations, DextAIRity allows the system to apply dense forces on out-of-contact…

Precise shape control of Deformable Linear Objects (DLOs) is crucial in robotic applications such as industrial and medical fields. However, existing methods face challenges in handling complex large deformation tasks, especially those…

This paper presents Adaptive Whole-body Loco-Manipulation, AdaptManip, a fully autonomous framework for humanoid robots to perform integrated navigation, object lifting, and delivery. Unlike prior imitation learning-based approaches that…

Generalized in-hand manipulation has long been an unsolved challenge of robotics. As a small step towards this grand goal, we demonstrate how to design and learn a simple adaptive controller to achieve in-hand object rotation using only…

The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality…

In this work, we tackle the problem of learning universal robotic dexterous grasping from a point cloud observation under a table-top setting. The goal is to grasp and lift up objects in high-quality and diverse ways and generalize across…

Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…

This paper presents an offset-free model predictive controller for fast and accurate control of a spherical soft robotic arm. In this control scheme, a linear model is combined with an online disturbance estimation technique to…

A standard motion control with feedback of the output displacement cannot handle unforeseen contact with environment without penetrating into the soft, i.e. viscoelastic, materials or even damaging the fragile materials. Robotics and…

This paper addresses the problem of contact-based manipulation of deformable linear objects (DLOs) towards desired shapes with a dual-arm robotic system. To alleviate the burden of high-dimensional continuous state-action spaces, we model…

Deformable linear objects (e.g., cables, ropes, and threads) commonly appear in our everyday lives. However, perception of these objects and the study of physical interaction with them is still a growing area. There have already been…

In everyday life, we often find that we can maintain an object's equilibrium on a tray by adjusting its orientation. Building upon this observation and extending the method we previously proposed to suppress sloshing in a moving vessel,…

Tracking the pose of an object while it is being held and manipulated by a robot hand is difficult for vision-based methods due to significant occlusions. Prior works have explored using contact feedback and particle filters to localize…

We introduce Neural Deformation Graphs for globally-consistent deformation tracking and 3D reconstruction of non-rigid objects. Specifically, we implicitly model a deformation graph via a deep neural network. This neural deformation graph…