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The interaction of intruding objects with deformable materials is a common phenomenon, arising in impact and penetration problems, animal and vehicle locomotion, and various geo-space applications. The dynamics of arbitrary intruders can be…
Recently, a number of grasp detection methods have been proposed that can be used to localize robotic grasp configurations directly from sensor data without estimating object pose. The underlying idea is to treat grasp perception…
In this paper, we investigate the problem of weakly supervised 3D vehicle detection. Conventional methods for 3D object detection need vast amounts of manually labelled 3D data as supervision signals. However, annotating large datasets…
Robotic grasping is an essential and fundamental task and has been studied extensively over the past several decades. Traditional work analyzes physical models of the objects and computes force-closure grasps. Such methods require…
We present a real-space formulation for coarse-graining Kohn-Sham Density Functional Theory that significantly speeds up the analysis of material defects without appreciable loss of accuracy. The approximation scheme consists of two steps.…
Autonomous grasping is an important factor for robots physically interacting with the environment and executing versatile tasks. However, a universally applicable, cost-effective, and rapidly deployable autonomous grasping approach is still…
This paper proposes a novel method for randomized bin-picking based on learning. When a two-fingered gripper tries to pick an object from the pile, a finger often contacts a neighboring object. Even if a finger contacts a neighboring…
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…
Granular grippers can manipulate a wide variety of objects, but need to be pressed on the object to conform to it. If the object is placed on unstable ground, e.g., on sand or water, this step might cause the object to sink or move away…
We introduce GEOTACT, the first robotic system capable of grasping and retrieving objects of potentially unknown shapes buried in a granular environment. While important in many applications, ranging from mining and exploration to search…
Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…
Hyperspectral imaging is an advanced technique for precisely identifying and analyzing materials or objects. However, its integration with robotic grasping systems has so far been explored due to the deployment complexities and prohibitive…
Granular materials are a ubiquitous yet ill-understood class of media. Many different approaches and techniques have been developed to understand the many complex behaviors they exhibit but none have been completely successful. We present a…
This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…
Various machine learning models have been used to predict the properties of polycrystalline materials, but none of them directly consider the physical interactions among neighboring grains despite such microscopic interactions critically…
Force chains, which are quasi-linear self-organised structures carrying large stresses, are ubiquitous in jammed amorphous materials, such as granular materials, foams, emulsions or even assemblies of cells. Predicting where they will form…
Granular materials are of critical interest to many robotic tasks in planetary science, construction, and manufacturing. However, the dynamics of granular materials are complex and often computationally very expensive to simulate. We…
Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS…
We create a mechanical digger able to move within 2D densely-packed granular media, in a manner intrinsically different from the existing biomimic diggers. The characteristics of our design include that the average grain size is about one…
A better understanding and anticipation of natural processes such as landsliding or seismic fault activity requires detailed theoretical and experimental analysis of rock mechanics and geomaterial dynamics. These last decades, considerable…