Related papers: Fast GPU-Based Two-Way Continuous Collision Handli…
This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact…
Physics-based simulation involves trade-offs between performance and accuracy. In collision detection, one trade-off is the granularity of collider geometry. Primitive-based colliders such as bounding boxes are efficient, while using the…
Dynamic novel view synthesis (NVS) is essential for creating immersive experiences. Existing approaches have advanced dynamic NVS by introducing 3D Gaussian Splatting (3DGS) with implicit deformation fields or indiscriminately assigned…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
Collision-free planning is essential for bipedal robots operating within unstructured environments. This paper presents a real-time Model Predictive Control (MPC) framework that addresses both body and foot avoidance for dynamic bipedal…
Continuous collision detection (CCD) and response methods are widely adopted in dynamics simulation of deformable models. They are history-based, as their success is strictly based on an assumption of a collision-free state at the start of…
In this paper we show and discuss the use of a versatile interaction potential approach coupled with an immersed boundary method to simulate a variety of flows involving deformable bodies. In particular, we focus on two kinds of problems,…
Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…
External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…
The collision-free velocity model is a microscopic pedestrian model, which despite its simplicity, reproduces fairly well several self-organization phenomena in pedestrian dynamics. The model consists of two components: a direction…
This paper presents reactive obstacle and self-collision avoidance of redundant robotic manipulators within real time kinematic feedback control using GPU-computed distance transform. The proposed framework utilizes discretized…
State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…
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…
These notes accompany the open-source code published in GitHub which implements a GPU-based line-segment, surface-triangle intersection algorithm in CUDA. It mentions some relevant works and discusses issues specific to this implementation.…
This paper presents a generalised and efficient wall boundary treatment in the smoothed particle hydrodynamics (SPH) method for 3-D complex and arbitrary geometries with single- and multi-phase flows to be executed on graphics processing…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…
The linear conjugate gradient method is widely used in physical simulation, particularly for solving large-scale linear systems derived from Newton's method. The nonlinear conjugate gradient method generalizes the conjugate gradient method…
Thanks to the powerful generative capacity of diffusion models, recent years have witnessed rapid progress in human motion generation. Existing diffusion-based methods employ disparate network architectures and training strategies. The…
Surrogate models for the rapid inference of nonlinear boundary value problems in mechanics are helpful in a broad range of engineering applications. However, effective surrogate modeling of applications involving the contact of deformable…
For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…