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Traditional industrial robot programming is often complex and time-consuming, typically requiring weeks or even months of effort from expert programmers. Although Programming by Demonstration (PbD) offers a more accessible alternative,…
High-end components that conduct complicated tasks automatically are a part of modern industrial systems. However, in order for these parts to function at the desired level, they need to be maintained by qualified experts. Solutions based…
Mixed Reality (MR)-aided operation overlays digital objects on the physical world to provide a more immersive and intuitive operation process. A primary challenge is the precise and fast auto-verification of whether the user follows MR…
This work proposes a novel generative design tool for passive grippers -- robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive…
Producing interactive 3D printed objects currently requires laborious 3D design and post-instrumentation with off-the-shelf electronics. Multi-material 3D printing using conductive PLA presents opportunities to mitigate these challenges. We…
Additive Manufacturing (AM) is gaining renewed popularity and attention due to low-cost fabrication systems proliferating the market. Current communication protocols used in AM limit the connection flexibility between the control board and…
Wire-feed laser additive manufacturing is an emerging fabrication technique capable of highly automated large-scale volume production that can reduce both material waste and overall cost while improving product lead times. Quality assurance…
We introduce Textile IR, a bidirectional intermediate representation that connects manufacturing-valid CAD, physics-based simulation, and lifecycle assessment for fashion design. Unlike existing siloed tools where pattern software…
In this paper, design and development of a sensor integrated adaptive gripper is presented. Adaptive grippers are useful for grasping objects of varied geometric shapes by wrapping fingers around the object. The finger closing sequence in…
Bed-to-wheelchair transferring is a ubiquitous activity of daily living (ADL), but especially challenging for caregiving robots with limited payloads. We develop a novel algorithm that leverages the presence of other assistive devices: a…
A switchable virtual reality (VR), augmented reality (AR), and mixed reality (MR) system is proposed using digital optical cloaking. Optical cloaking allows completely opaque VR devices to be "cloaked," switching to AR or MR while providing…
We introduce Breaking the Plane, an augmented reality (AR) application built for AR headsets that enables users to visualize 3D mathematical functions using handwritten input. Researchers have demonstrated overlaying 3D visualizations of…
Tendon-driven mechanisms are useful from the perspectives of variable stiffness, redundant actuation, and lightweight design, and they are widely used, particularly in hands, wrists, and waists of robots. The design of these wire…
Additive Manufacturing (AM) is a manufacturing paradigm that builds three-dimensional objects from a computer-aided design model by successively adding material layer by layer. AM has become very popular in the past decade due to its…
A novel mathematical model for fiber-reinforced materials is proposed. It is based on a 1-dimensional beam model for the thin fiber structures, a flexible and general 3-dimensional elasticity model for the matrix and an overlapping domain…
Physical products are often complex assemblies combining a multitude of 3D parts modeled in computer-aided design (CAD) software. CAD designers build up these assemblies by aligning individual parts to one another using constraints called…
Modern rendering libraries provide unprecedented realism, producing real-time photorealistic 3D graphics on commodity hardware. Visual fidelity, however, comes at the cost of increased complexity and difficulty of usage, with many rendering…
Recent progress in robot autonomy and safety has significantly improved human-robot interactions, enabling robots to work alongside humans on various tasks. However, complex assembly tasks still present significant challenges due to…
A virtual try-on method takes a product image and an image of a model and produces an image of the model wearing the product. Most methods essentially compute warps from the product image to the model image and combine using image…
Learning-based 3D object reconstruction enables single- or few-shot estimation of 3D object models. For robotics, this holds the potential to allow model-based methods to rapidly adapt to novel objects and scenes. Existing 3D reconstruction…