Related papers: Design a New Pulling Gear for the Automated Pant B…
Sailing robots provide a low-cost solution to conduct the ocean missions such as marine exploration, pollution detection, and border surveillance, etc. However, compared with other propeller-driven surface vessels, sailboat suffers in…
This paper studies the problem of using a robot arm to manipulate a uniformly rotating chain with its bottom end fixed. Existing studies have investigated ideal rotational shapes for practical applications, yet they do not discuss how these…
Turning garments right-side out is a challenging manipulation task: it is highly dynamic, entails rapid contact changes, and is subject to severe visual occlusion. We introduce Right-Side-Out, a zero-shot sim-to-real framework that…
Well-fitted clothing is essential for both real and virtual garments to enable self-expression and accurate representation for a large variety of body types. Common practice in the industry is to provide a pre-made selection of distinct…
Significant progress in robotics reveals new opportunities to advance manufacturing. Next-generation industrial automation will require both integration of distinct robotic technologies and their application to challenging industrial…
The use of robotic technology has drastically increased in manufacturing in the 21st century. But by utilizing their sensory cues, humans still outperform machines, especially in the micro scale manufacturing, which requires high-precision…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
The design of functional seating furniture is a complicated process which often requires extensive manual design effort and empirical evaluation. We propose a computational design framework for pose-driven automated generation of…
In tunnel construction projects, delays induce high costs. Thus, tunnel boring machines (TBM) operators aim for fast advance rates, without safety compromise, a difficult mission in uncertain ground environments. Finding the optimal control…
Robotics Wire Arc Additive Manufacturing (WAAM) is governed by complex and nonlinear process dynamics coupling thermal field to the build geometry. The process may be regarded as a multi-input/multi-output dynamical system with welding…
When performing cloth-related tasks, such as garment hanging, it is often important to identify and grasp certain structural regions -- a shirt's collar as opposed to its sleeve, for instance. However, due to cloth deformability, these…
Complex shapes are widely used to design products in several industries such as aeronautics, automotive and domestic appliances. Several variations of their curvatures and orientations generate difficulties during their manufacturing or the…
Smart manufacturing aims to overcome the limitations of today's rigid assembly lines by making the material flow and manufacturing process more flexible, versatile, and scalable. The main economic drivers are higher resource and cost…
This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…
Robotic manipulation of tethered tools is widely seen in robotic work cells. They may cause excess strain on the tool's cable or undesired entanglements with the robot's arms. This paper presents a manipulation planner with cable…
A new type of 'two-in-one' wire scanner is proposed. Recent advances in linear motors' technology make it possible to combine translational and rotational movements. This will allow to scan the beam in two perpendicular directions using a…
The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality…
Surgical suturing is a high-precision task that impacts patient healing and scarring. Suturing skill varies widely between surgeons, highlighting the need for robot assistance. Previous robot suturing works, such as STITCH 1.0 [1], struggle…
3D printers based on the Fused Decomposition Modeling create objects layer-by-layer dropping fused material. As a consequence, strong overhangs cannot be printed because the new-come material does not find a suitable support over the last…
In this paper we study the problem of improving human hand pose sensing device performance by exploiting the knowledge on how humans most frequently use their hands in grasping tasks. In a companion paper we studied the problem of…