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We construct a novel model for the steady-state contact angles of liquid droplets at the wetted substrate. The non-removable, thin liquid film covering the substrate is governed by the intermolecular forces between molecules of liquid and…
The characterization of the wetting on superhydrophobic surfaces is rather complex. Usual contact angle experiments are difficult to perform and the lateral movement of droplets as well as the pinning at point defects on the surface can…
Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid grippers, the use of soft grippers reduces the control…
When manipulating an object to accomplish complex tasks, humans rely on both vision and touch to keep track of the object's 6D pose. However, most existing object pose tracking systems in robotics rely exclusively on visual signals, which…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
3D hand-object pose estimation is the key to the success of many computer vision applications. The main focus of this task is to effectively model the interaction between the hand and an object. To this end, existing works either rely on…
To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…
Walking on compliant terrain presents a substantial challenge for individuals with lower-limb amputation, further elevating their already high risk of falling. While powered ankle-foot prostheses have demonstrated adaptability across speeds…
Whole-body pose estimation localizes the human body, hand, face, and foot keypoints in an image. This task is challenging due to multi-scale body parts, fine-grained localization for low-resolution regions, and data scarcity. Meanwhile,…
Complicated assembly processes can be described as a sequence of two main activities: grasping and insertion. While general grasping solutions are common in industry, insertion is still only applicable to small subsets of problems, mainly…
In this paper, we present Tac2Pose, an object-specific approach to tactile pose estimation from the first touch for known objects. Given the object geometry, we learn a tailored perception model in simulation that estimates a probability…
This paper presents a novel setup for automatic visual inspection of cracks in ceramic tile as well as studies the effect of various classifiers and height-varying illumination conditions for this task. The intuition behind this setup is…
In the peg insertion task, human pays attention to the seam between the peg and the hole and tries to fill it continuously with visual feedback. By imitating the human behavior, we design architectures with position and orientation…
Real-time 6D object pose estimation is essential for many real-world applications, such as robotic grasping and augmented reality. To achieve an accurate object pose estimation from RGB images in real-time, we propose an effective and…
Microscopic devices are widely used in optomechanical experiments at the cutting-edge of precision experimental physics. Such devices often need to have high electrical conductivity but low reflectivity at optical wavelengths, which can be…
Drilling a hole on a curved surface with a desired angle is prone to failure when done manually, due to the difficulties in drill alignment and also inherent instabilities of the task, potentially causing injury and fatigue to the workers.…
3D hand pose estimation has received a lot of attention for its wide range of applications and has made great progress owing to the development of deep learning. Existing approaches mainly consider different input modalities and settings,…
Recent advances in deep learning and computer vision offer an excellent opportunity to investigate high-level visual analysis tasks such as human localization and human pose estimation. Although the performance of human localization and…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
The electric and magnetic dipole moment of charm and bottom baryons can be measured for the first time by using bent crystal technology at the LHC. The experimental method, proposed in recent years, suffers from limited statistics, which…