Related papers: GRAINS: Proximity Sensing of Objects in Granular M…
In this paper, a quick and efficient method is presented for grasping unknown objects in clutter. The grasping method relies on real-time superquadric (SQ) representation of partial view objects and incomplete object modelling, well suited…
This paper discusses a novel approach for detecting moving massive objects based on the time variation that these objects produce in the local gravitational field measured by several detectors. Such an approach may provide a viable method…
Grasping inhomogeneous objects in real-world applications remains a challenging task due to the unknown physical properties such as mass distribution and coefficient of friction. In this study, we propose a meta-learning algorithm called…
Lacking a universal law for granular flows across gravitational environments, fundamental processes such as hopper discharge remain vulnerable to failure in low gravity environments. A central challenge is clogging, the spontaneous arrest…
The trend in modern science and technology is to take vector measurements rather than scalars, ruthlessly scaling to ever higher dimensional vectors. For about two decades now, traditional scalar Compressed Sensing has been synonymous with…
Physical simulations that accurately model reality are crucial for many engineering disciplines such as mechanical engineering and robotic motion planning. In recent years, learned Graph Network Simulators produced accurate mesh-based…
Granular materials transmit stress via a network of force chains. Despite the importance of these chains to characterizing the stress state and dynamics of the system, there is no common framework for quantifying their their properties.…
Above a certain density a granular material jams. This property can be controlled by either tuning a global property, such as the packing fraction or by applying shear strain, or at the micro-scale by tuning grain shape, inter-particle…
Automated detection of grain boundaries (GBs) in electron microscope images of polycrystalline materials could help accelerate the nanoscale characterization of myriad engineering materials and novel materials under scientific research.…
Perception-for-grasping is a challenging problem in robotics. Inexpensive range sensors such as the Microsoft Kinect provide sensing capabilities that have given new life to the effort of developing robust and accurate perception methods…
Granular materials such as gravel, cereals, or pellets, are ubiquitous in nature, daily life, and industry. While sharing some characteristics with gases, liquids, and solids, granular matter exhibits a wealth of phenomena that defy these…
Jamming is a common feature of out of equilibrium systems showing slow relaxation dynamics. Here we review our efforts in understanding jamming in granular materials using experiments and computer simulations. We first obtain an estimation…
This work presents two complementary real-time rail vehicle localization methods based on magnetic field measurements and a pre-recorded magnetic map. The first uses a particle filter reweighted via magnetic similarity, employing a…
Granular materials such as sand, powders, and grains are omnipresent in daily life, industrial applications, and earth-science [1]. When unperturbed, they form stable structures that resemble the ones of other amorphous solids like metallic…
Granular materials of different sizes are present on the surface of several atmosphere-less Solar System bodies. The phenomena related to granular materials have been studied in the framework of the discipline called Granular Physics; that…
3D object reconstruction based on deep neural networks has gained increasing attention in recent years. However, 3D reconstruction of underground objects to generate point cloud maps remains a challenge. Ground Penetrating Radar (GPR) is…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Aquatic mammals, such as pinnipeds, utilize their whiskers to detect and discriminate objects and analyze water movements, inspiring the development of robotic whiskers for sensing contacts, surfaces, and water flows. We present the design…
This study presents a grasping method for objects with uneven mass distribution by leveraging diffusion models to localize the center of gravity (CoG) on unknown objects. In robotic grasping, CoG deviation often leads to postural…
We study the compaction and mobility properties of a dense granular material under weak random vibration. By putting in direct contact millimetric glass beads with piezoelectric transducers we manage to inject energy to the system in a…