Related papers: Interactive Identification of Granular Materials u…
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…
Granular media (e.g., cereal grains, plastic resin pellets, and pills) are ubiquitous in robotics-integrated industries, such as agriculture, manufacturing, and pharmaceutical development. This prevalence mandates the accurate and efficient…
We introduce a particle-based simulation method for granular material in interactive frame rates. We divide the simulation into two decoupled steps. In the first step, a relatively small number of particles is accurately simulated with a…
Granular materials are complex multi-particle ensembles in which macroscopic properties are largely determined by inter-particle interactions between their numerous constituents. In order to understand and to predict their macroscopic…
Material recognition can help inform robots about how to properly interact with and manipulate real-world objects. In this paper, we present a multimodal sensing technique, leveraging near-infrared spectroscopy and close-range high…
The proximity perception of objects in granular materials is significant, especially for applications like minesweeping. However, due to particles' opacity and complex properties, existing proximity sensors suffer from high costs from…
Force chains form heterogeneous physical structures that can constrain the mechanical stability and acoustic transmission of granular media. However, despite their relevance for predicting bulk properties of materials, there is no agreement…
Granular materials (GMs) are ubiquitous in daily life. Understanding their properties is also important, especially in agriculture and industry. However, existing works require dedicated measurement equipment and also need large human…
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…
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…
Recognition techniques allow robots to make proper planning and control strategies to manipulate various objects. Object recognition is more reliable when made by combining several percepts, e.g., vision and haptics. One of the…
While tangible user interface has shown its power in naturally interacting with rigid or soft objects, users cannot conveniently use different types of granular materials as the interaction media. We introduce DipMe as a smart device to…
Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current…
The world is abundant with diverse materials, each possessing unique surface appearances that play a crucial role in our daily perception and understanding of their properties. Despite advancements in technology enabling the capture and…
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…
Robotic manipulation of flexible objects is widely required in both industrial and service applications. Among such objects, paper-like materials exhibit distinct mechanical characteristics compared to cloth, being more sensitive to…
Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…
Autonomous manipulation of granular media, such as sand, is crucial for applications in construction, excavation, and additive manufacturing. However, shaping granular materials presents unique challenges due to their high-dimensional…
Granular materials -- aggregates of many discrete, disconnected solid particles -- are ubiquitous in natural and industrial settings. Predictive models for their behavior have wide ranging applications, e.g. in defense, mining,…
Recognizing an object's material can inform a robot on the object's fragility or appropriate use. To estimate an object's material during manipulation, many prior works have explored the use of haptic sensing. In this paper, we explore a…