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Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
Accurate and efficient simulation tools are essential in robotics, enabling the visualization of system dynamics and the validation of control laws before committing resources to physical experimentation. Developing physically accurate…
An open problem in industrial automation is to reliably perform tasks requiring in-contact movements with complex workpieces, as current solutions lack the ability to seamlessly adapt to the workpiece geometry. In this paper, we propose a…
Motivated by learning problems including max-norm regularized matrix completion and clustering, robust PCA and sparse inverse covariance selection, we propose a novel optimization algorithm for minimizing a convex objective which decomposes…
Continuum robots offer high flexibility and multiple degrees of freedom, making them ideal for navigating narrow lumens. However, accurately modeling their behavior under large deformations and frequent environmental contacts remains…
Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…
We present a novel shape-approximating anisotropic re-meshing algorithm as a geometric generalization of the adaptive moving mesh method. Conventional moving mesh methods reduce the interpolation error of a mesh that discretizes a given…
Soft robots, inspired by elephant trunks or octopus arms, offer extraordinary flexibility to bend, twist, and elongate in ways that rigid robots cannot. However, their motion planning remains a challenge, especially in cluttered…
Neural implicit functions have emerged as a powerful representation for surfaces in 3D. Such a function can encode a high quality surface with intricate details into the parameters of a deep neural network. However, optimizing for the…
With the increase in computational power for the available hardware, the demand for high-resolution data in computer graphics applications increases. Consequently, classical geometry processing techniques based on linear algebra solutions…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
Image decomposition plays a crucial role in various computer vision tasks, enabling the analysis and manipulation of visual content at a fundamental level. Overlapping images, which occur when multiple objects or scenes partially occlude…
In various applications, such as virtual reality and gaming, simulating the deformation of soft tissues in the human body during interactions with external objects is essential. Traditionally, Finite Element Methods (FEM) have been employed…
A new higher-order accurate method is proposed that combines the advantages of the classical $p$-version of the FEM on body-fitted meshes with embedded domain methods. A background mesh composed by higher-order Lagrange elements is used.…
A metric-accurate semantic 3D representation is essential for many robotic tasks. This work proposes a simple, yet powerful, way to integrate the 2D embeddings of a Vision-Language Model in a metric-accurate 3D representation at real-time.…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…
We present an algorithm that allows a user within a virtual environment to perform real-time unconstrained cuts or consecutive tears, i.e., progressive, continuous fractures on a deformable rigged and soft-body mesh model in…
We discuss adaptive mesh point selection for the solution of scalar IVPs. We consider a method that is optimal in the sense of the speed of convergence, and aim at minimizing the local errors. Although the speed of convergence cannot be…
We propose an algorithm for generating explicit solutions of multiparametric mixed-integer convex programs to within a given suboptimality tolerance. The algorithm is applicable to a very general class of optimization problems, but is most…