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Natural systems integrate the work of many sub-units (cells) toward a large-scale unified goal (morphological and behavioral), which can counteract the effects of unexpected experiences, damage, or simply changes in tasks demands. In this…
Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception, and motion planning. Here we circumvent the need for feedback or precise planning by using an array…
This paper introduces open-source contributions designed to accelerate research in volumetric multi-material additive manufacturing and metamaterial design. We present a flexible Python-based API facilitating parametric expression of…
Open cell foams have diverse industrial applications e.g. heat exchangers, structured reactors, filtration due to their unique properties such as high porosity and high specific surface area. In order to theoretically determine the…
Fused filament fabrication is the method of choice for printing 3D models at low cost and is the de-facto standard for hobbyists, makers, and schools. Unfortunately, filament printers cannot truly reproduce colored objects. The best current…
Improved additive manufacturing capabilities are vital for the future development and improvement of ubiquitous robotic systems. These machines can be integrated into existing robotic systems to allow manufacturing and repair of components,…
Predicting material properties of 3D printed polymer products is a challenge in additive manufacturing due to the highly localized and complex manufacturing process. The microstructure of such products is fundamentally different from the…
Deep implicit functions (DIFs), as a kind of 3D shape representation, are becoming more and more popular in the 3D vision community due to their compactness and strong representation power. However, unlike polygon mesh-based templates, it…
Robotic manipulation requires understanding both the 3D spatial structure of the environment and its temporal evolution, yet most existing policies overlook one or both. They typically rely on 2D visual observations and backbones pretrained…
Robotic packaging using wrapping paper poses significant challenges due to the material's complex deformation properties. The packaging process itself involves multiple steps, primarily categorized as folding the paper or creating creases.…
Humans can quickly determine the force required to grasp a deformable object to prevent its sliding or excessive deformation through vision and touch, which is still a challenging task for robots. To address this issue, we propose a novel…
This paper shows how data-driven machine learning approaches can improve growth control, reproducibility, and physical insight in the pulsed laser deposition (PLD) growth of correlated oxides. Despite well-known relationships between growth…
Peptides are recognized for their varied self-assembly behaviors, forming a wide array of structures and geometries, such as spheres, fibers, and hydrogels, each presenting a unique set of material properties. The functionalities of these…
Fast and light-weight methods for animating 3D characters are desirable in various applications such as computer games. We present a learning-based approach to enhance skinning-based animations of 3D characters with vivid secondary motion…
How local stresses propagate through polymeric fluids, and, more generally, how macromolecular dynamics give rise to viscoelasticity are open questions vital to wide-ranging scientific and industrial fields. Here, to unambiguously connect…
This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…
Polymer 3D-printing has been commercialized rapidly during recent years, however, there remains a matter of improving the manufacturing speed. Screw extrusion has a strong potential to fasten the process through simultaneous operation of…
Tactile information plays a crucial role in human manipulation tasks and has recently garnered increasing attention in robotic manipulation. However, existing approaches mostly focus on the alignment of visual and tactile features and the…
The crystallographic texture is a key organization feature of many technical and biological materials. In these materials, especially hierarchically structured ones, the preferential alignment of the nano constituents is heavily influencing…
Accurate physical modeling with 3D-printing techniques could lead to new approaches to study structure and dynamics of biological systems complementing computational methods. Computational biology has become an important part of research…