Related papers: Real-to-Sim Deformable Object Manipulation: Optimi…
An accurate, physically-based, and differentiable model of soft robots can unlock downstream applications in optimal control. The Finite Element Method (FEM) is an expressive approach for modeling highly deformable structures such as…
In minimal invasive surgery, it is important to rebuild and visualize the latest deformed shape of soft-tissue surfaces to mitigate tissue damages. This paper proposes an innovative Simultaneous Localization and Mapping (SLAM) algorithm for…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
Robotic cutting of soft materials is critical for applications such as food processing, household automation, and surgical manipulation. As in other areas of robotics, simulators can facilitate controller verification, policy learning, and…
In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…
Differentiable physics simulation provides an avenue to tackle previously intractable challenges through gradient-based optimization, thereby greatly improving the efficiency of solving robotics-related problems. To apply differentiable…
Accurate and efficient modeling of soft-tissue interactions is fundamental for advancing surgical simulation, surgical robotics, and model-based surgical automation. To achieve real-time latency, classical Finite Element Method (FEM)…
Robotic cutting of soft materials is critical for applications such as food processing, household automation, and surgical manipulation. As in other areas of robotics, simulators can facilitate controller verification, policy learning, and…
A method for adaptive model order reduction for nonsmooth discrete element simulation is developed and analysed in numerical experiments. Regions of the granular media that collectively move as rigid bodies are substituted with rigid bodies…
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…
Augmented Reality (AR) holds the potential to revolutionize surgical procedures by allowing surgeons to visualize critical structures within the patient's body. This is achieved through superimposing preoperative organ models onto the…
Applications in fields ranging from home care to warehouse fulfillment to surgical assistance require robots to reliably manipulate the shape of 3D deformable objects. Analytic models of elastic, 3D deformable objects require numerous…
With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have recently emerged as a more untouched research area in many fields ranging from surgical robotics to…
Topology optimization is a powerful tool utilized in various fields for structural design. However, its application has primarily been restricted to static or passively moving objects, mainly focusing on hard materials with limited…
Manipulating deformable objects has long been a challenge in robotics due to its high dimensional state representation and complex dynamics. Recent success in deep reinforcement learning provides a promising direction for learning to…
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery, and household automation. However, developing grasp…
Tactile perception is key to dexterous manipulation, yet simulating high-resolution elastomer deformation remains computationally prohibitive. Finite element methods (FEM) deliver high fidelity but demand costly remeshing, while Material…
Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators…
Accurate simulation of brain deformation is a key component for developing realistic, interactive neurosurgical simulators, as complex nonlinear deformations must be captured to ensure realistic tool-tissue interactions. However,…
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…