Related papers: Rapid and Inexpensive Inertia Tensor Estimation fr…

We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…

We developed a new grip force measurement concept that allows for embedding tactile stimulation mechanisms in a gripper. This concept is based on a single force sensor to measure the force applied on each side of the gripper, and it…

In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose…

This paper presents an approach for inferring geometric constraints in human demonstrations. In our method, geometric constraint models are built to create representations of kinematic constraints such as fixed point, axial rotation,…

A simple setup was assembled to study the motion of an object while it falls. The setup was used to determine the instantaneous velocity, terminal velocity and acceleration due to gravity. Also, since the whole project was done within $20…

We describe a simple and inexpensive method for automating the data collection in the well-known Cavendish torsion balance experiment to determine the gravitational constant $G$. The method uses a linear array of phototransistors and…

Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an optimal grasp pose that enables stable pickup without damaging…

Based on the complementarity relation between entanglement of a composite system and the purity of a subsystem, we propose a simple method to measure the amount of entanglement. The method can be applied to a bipartite system in a pure…

Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…

This paper introduces a new object called the momentum tensor. Together with the velocity tensor it forms a basis for establishing the tensorial picture of classical and relativistic mechanics. Some properties of the momentum tensor are…

In this paper we show that with the help of accessible, teaching quality equipment, some interesting details of the motion of a gyroscope, typically overlooked in introductory courses, can be measured and compared to theory. We begin by…

In this paper we argue that, even though there are strong theoretical and empirical reasons to expect a violation of spatial isotropy at short distances, contemporary setups for probing gravitational interactions at short distances have not…

The existing attitude controllers (without angular velocity measurements) involve explicitly the orientation (\textit{e.g.,} the unit-quaternion) in the feedback. Unfortunately, there does not exist any sensor that directly measures the…

This paper presents an efficient in-field calibration method tailored for low-cost triaxial MEMS gyroscopes often used in healthcare applications. Traditional calibration techniques are challenging to implement in clinical settings due to…

For most materials, the symmetry group is known a priori and deduced from the realization process. This allows many simplifications for the measurements of the stiffness tensor. We deal here with the case where the symmetry is a priori…

Shape estimation is fundamental for controlling continuously bending tensegrity manipulators, yet achieving it remains a challenge. Although using exteroceptive sensors makes the implementation straightforward, it is costly and limited to…

Assessing the health of both the fetus and mother is vital in preventing and identifying possible complications in pregnancy. This paper focuses on a device that can be used effectively by the mother herself with minimal supervision and…

A geometric estimator is proposed for the rigid body attitude under multi-rate measurements using discrete-time Lyapunov stability analysis in this work. The angular velocity measurements are assumed to be sampled at a higher rate compared…

We present a simple example in which the importance of the inertial effects of stress is evident. The system is an insulating solid narrow disc whose faces are uniformly charged with charges of equal magnitude and opposite signs. The motion…

Inertial measurement units are commonly used in a growing number of application fields to track or capture motions of kinematic chains, such as human limbs, exoskeletons or robotic actuators. A major challenge is the presence of magnetic…