Related papers: A Survey of Developable Surfaces: From Shape Model…
Data-driven methods play an increasingly important role in discovering geometric, structural, and semantic relationships between 3D shapes in collections, and applying this analysis to support intelligent modeling, editing, and…
This paper presents a survey of the state-of-the-art deformable models studied in the literature concerning soft tissue deformable modeling for interactive surgical simulation. It first introduces the challenges of surgical simulation,…
Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growing robots in particular have shown promise in navigation of…
Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and…
When humans perform contact-rich manipulation tasks, customized tools are often necessary to simplify the task. For instance, we use various utensils for handling food, such as knives, forks and spoons. Similarly, robots may benefit from…
Tailoring the design of robot bodies for control purposes is implicitly performed by engineers, however, a methodology or set of tools is largely absent and optimization of morphology (shape, material properties of robot bodies, etc.) is…
Robotic grinding is widely used for shaping workpieces in manufacturing, but it remains difficult to automate this process efficiently. In particular, efficiently grinding workpieces of different shapes and material hardness is challenging…
Recent advances in deep learning have significantly transformed the field of 3D shape generation, enabling the synthesis of complex, diverse, and semantically meaningful 3D objects. This survey provides a comprehensive overview of the…
Deformable object manipulation (DOM) represents a critical challenge in robotics, with applications spanning healthcare, manufacturing, food processing, and beyond. Unlike rigid objects, deformable objects exhibit infinite dimensionality,…
Computing a quasi-developable strip surface bounded by design curves finds wide industrial applications. Existing methods compute discrete surfaces composed of developable lines connecting sampling points on input curves which are not…
3D shape editing is widely used in a range of applications such as movie production, computer games and computer aided design. It is also a popular research topic in computer graphics and computer vision. In past decades, researchers have…
An emerging theme across many domains of science and engineering is materials that change shape, often dramatically. Determining their structure involves solving a shape optimization problem where a given energy functional is minimized with…
This paper presents a new method for modelling the dynamic behaviour of developable ribbons, two dimensional strips with much smaller width than length. Instead of approximating such surface with a general triangle mesh, we characterize it…
Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…
Differentiable physics is a powerful approach to learning and control problems that involve physical objects and environments. While notable progress has been made, the capabilities of differentiable physics solvers remain limited. We…
It is proved that a generic simple, closed, piecewise regular curve in space can be the boundary of only finitely many developable surfaces with nonvanishing mean curvature. The relevance of this result in the context of the dynamics of…
Triangulated meshes have become ubiquitous discrete-surface representations. In this paper we address the problem of how to maintain the manifold properties of a surface while it undergoes strong deformations that may cause topological…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are intimately linked, joint optimization of design and control…
Accurately digitizing physical objects is central to many applications, including virtual/augmented reality, industrial design, and e-commerce. Prior research has demonstrated efficient and faithful reconstruction of objects' geometric…