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The animation community has spent significant effort trying to ease rigging procedures. This is necessitated because the increasing availability of 3D data makes manual rigging infeasible. However, object animations involve understanding…
Microspine grippers are small spines commonly found on insect legs that reinforce surface interaction by engaging with asperities to increase shear force and traction. An array of such microspines, when integrated into the limbs or…
Abstract Background During percutaneous puncture robotic surgical navigation, the needle insertion point is positioned on the patient's chest and abdomen body surface. By locating any point on the soft skin tissue, it is difficult to apply…
Based on point spread function (PSF) engineering and astigmatism due to a pair of cylindrical lenses, a novel compressed imaging mechanism is proposed to achieve single-shot incoherent 3D imaging. The speckle-like PSF of the imaging system…
The signed distance field is a popular implicit shape representation in robotics, providing geometric information about objects and obstacles in a form that can easily be combined with control, optimization and learning techniques. Most…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Subretinal injection methods and other procedures for treating retinal conditions and diseases (many considered incurable) have been limited in scope due to limited human motor control. This study demonstrates the next generation,…
This paper presents a generalized flexible Hybrid Cable-Driven Robot (HCDR). For the proposed HCDR, the derivation of the equations of motion and proof provide a very effective way to find items for generalized system modeling. The proposed…
Spectral CT has shown promise for high-sensitivity quantitative imaging and material decomposition. This work presents a new device called a spatial-spectral filter (SSF) which consists of a tiled array of filter materials positioned near…
Flippers are essential components of tracked robot locomotion systems for unstructured terrain, especially within a rescue scenario. Achieving full and semi-autonomy for such rescue robots is the goal of many research efforts. In this work,…
Accurate and consistent construction of point clouds from LiDAR scanning data is fundamental for 3D modeling applications. Current solutions, such as multiview point cloud registration and LiDAR bundle adjustment, predominantly depend on…
Structure-from-Motion (SfM), a task aiming at jointly recovering camera poses and 3D geometry of a scene given a set of images, remains a hard problem with still many open challenges despite decades of significant progress. The traditional…
We introduce an electronic structure approach for spin symmetry breaking and restoration from the mean-field level. The spin-projected constrained-unrestricted Hartree-Fock (SPcUHF) method restores the broken spin symmetry inherent in…
Industrial robots are increasingly used in various applications where the robot accuracy becomes very important, hence calibrations of the robot's kinematic parameters and the measurement system's extrinsic parameters are required. However,…
In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system models of locomotion with a reduced-order model predictive…
We address the problem of clothed human reconstruction from a single image or uncalibrated multi-view images. Existing methods struggle with reconstructing detailed geometry of a clothed human and often require a calibrated setting for…
Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surface moving in the inertial frame) involves complex full-order dynamics that is high-dimensional, nonlinear, and time-varying. Towards deriving an analytically tractable…
For letting mobile robots travel flexibly through complicated environments, increasing attention has been paid to the whole-body collision evaluation. Most existing works either opt for the conservative corridor-based methods that impose…
Monocular shape-from-polarization (SfP) leverages the intrinsic relationship between light polarization properties and surface geometry to recover surface normals from single-view polarized images, providing a compact and robust approach…
High-order numerical methods for solving elliptic equations over arbitrary domains typically require specialized machinery, such as high-quality conforming grids for finite elements method, and quadrature rules for boundary integral…