Related papers: GRAINS: Proximity Sensing of Objects in Granular M…
Granular intrusion is commonly observed in natural and human-made settings. Unlike typical solids and fluids, granular media can simultaneously display fluid-like and solid-like characteristics in a variety of intrusion scenarios. This…
This paper proposes a new approach to detecting grasp points on novel objects presented in clutter. The input to our algorithm is a point cloud and the geometric parameters of the robot hand. The output is a set of hand configurations that…
Robotic vision plays a key role for perceiving the environment in grasping applications. However, the conventional framed-based robotic vision, suffering from motion blur and low sampling rate, may not meet the automation needs of evolving…
Graph neural networks (GNNs) have shown significant success in learning graph representations. However, recent studies reveal that GNNs often fail to outperform simple MLPs on heterophilous graph tasks, where connected nodes may differ in…
Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…
This paper introduces a new technique for learning probabilistic models of mass and friction distributions of unknown objects, and performing robust sliding actions by using the learned models. The proposed method is executed in two…
Humans, this species expert in grasp detection, can grasp objects by taking into account hand-object positioning information. This work proposes a method to enable a robot manipulator to learn the same, grasping objects in the most optimal…
To enhance robotic grasping capabilities, we are developing new contactless fingertip sensors to measure distance in close proximity and simultaneously detect the type of material and the interior structure. These sensors are referred to as…
Granular materials, composed of discrete solid grains, can be modeled as simple mechanical systems. However, these materials can undergo spontaneous slow deformation, or creep, even under small forces and while in apparent mechanical…
Granular media (GM) present locomotor challenges for terrestrial and extraterrestrial devices because they can flow and solidify in response to localized intrusion of wheels, limbs, and bodies. While the development of airplanes and…
Robots benefit from high-fidelity reconstructions of their environment, which should be geometrically accurate and photorealistic to support downstream tasks. While this can be achieved by building distance fields from range sensors and…
Manipulation of granular materials such as sand or rice remains an unsolved problem due to challenges such as the difficulty of defining their configuration or modeling the materials and their particles interactions. Current approaches tend…
Granular jamming is a popular soft actuation mechanism that provides high stiffness variability with minimum volume variation. Jamming is particularly interesting from a design perspective, as a myriad of design parameters can potentially…
A fundamental challenge in materials science pertains to elucidating the relationship between stoichiometry, stability, structure, and property. Recent advances have shown that machine learning can be used to learn such relationships,…
We investigate the motion of groups of intruders in a two-dimensional granular system by using discrete numerical simulations. By imposing either a constant velocity or a thrusting force on larger disks (intruders) that move within smaller…
Granular materials are involved in most industrial and environmental processes, as well as many civil engineering applications. Although significant advances have been made in understanding the statics and dynamics of cohesionless grains…
Simultaneous Localization and Mapping (SLAM) techniques play a key role towards long-term autonomy of mobile robots due to the ability to correct localization errors and produce consistent maps of an environment over time. Contrarily to…
3D Visual Grounding (3DVG) aims to locate objects in 3D scenes based on text prompts, which is essential for applications such as robotics. However, existing 3DVG methods encounter two main challenges: first, they struggle to handle the…
We present the experimental studies of highly strained soft bidisperse granular systems made of hyperelastic and plastic particles. We explore the behavior of granular matter deep in the jammed state from local field measurement from the…
We report experimental results on the dynamics of a granular packing submitted to high-intensity focused ultrasound. Acoustic radiation pressure is shown to remotely induce local rearrangements within a pile as well as global motion around…