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We present the identification of the non-linear dynamics of a novel hovercraft design, employing end-to-end deep learning techniques. Our experimental setup consists of a hovercraft propelled by racing drone propellers mounted on a…

In an exploration paper, {\it L. Chen, Algorithms for Deforming and Contracting Simply Connected Discrete Closed Manifolds (I)}, we designed algorithms for deforming and contracting a simply connected discrete closed manifold to a discrete…

We compute small rational models for configuration spaces of points on oriented surfaces, as right modules over the framed little disks operad. We do this by splitting these surfaces in unions of several handles. We first describe rational…

This paper investigates how learning can be used to ease the design of high-quality paths for the assembly of deformable objects. Object dynamics plays an important role when manipulating deformable objects; thus, detailed models are often…

Obtaining dynamic models of continuum soft robots is central to the analysis and control of soft robots, and researchers have devoted much attention to the challenge of proposing both data-driven and first-principle solutions. Both avenues…

This paper is concerned with the problem of estimating (interpolating and smoothing) the shape (pose and the six modes of deformation) of a slender flexible body from multiple camera measurements. This problem is important in both biology,…

"Model-free control" and the corresponding "intelligent" PID controllers (iPIDs), which already had many successful concrete applications, are presented here for the first time in an unified manner, where the new advances are taken into…

We describe how to construct a dodecahedron, tetrahedron, cube, and octahedron out of pvc pipes using standard fittings.

This paper presents the technique of flex-and-flip manipulation. It is suitable for grasping thin, flexible linear objects lying on a flat surface. During the manipulation process, the object is first flexed by a robotic gripper whose…

We analyze the topology and geometry of a polyhedron of dimension 2 according to the minimum size of a cover by PL collapsible polyhedra. We provide partial characterizations of the polyhedra of dimension 2 that can be decomposed as the…

We propose a novel type of planar-to-spatial deployable structures that we call elastic geodesic grids. Our approach aims at the approximation of freeform surfaces with spatial grids of bent lamellas which can be deployed from a planar…

Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…

We prove that all discrete isothermic nets with a family of planar or spherical lines of curvature can be obtained from special discrete holomorphic maps via lifted-folding. This novel approach is a generalization and discretization of a…

The isoline tracking of this work is concerned with the control design for a sensing robot to track a given isoline of an unknown 2-D scalar filed. To this end, we propose a coordinate-free controller with a simple PI-like form using only…

Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…

In this work we propose and analyze a novel Hybrid High-Order discretization of a class of (linear and) nonlinear elasticity models in the small deformation regime which are of common use in solid mechanics. The proposed method is valid in…

The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are intimately linked, joint optimization of design and control…

In this paper we address the issue of designing developable surfaces with Bezier patches. We show that developable surfaces with a polynomial edge of regression are the set of developable surfaces which can be constructed with Aumann's…

We introduce an algorithm to remesh triangle meshes representing developable surfaces to planar quad dominant meshes. The output of our algorithm consists of planar quadrilateral (PQ) strips that are aligned to principal curvature…

Shape control of deformable objects is a challenging and important robotic problem. This paper proposes a model-free controller using novel 3D global deformation features based on modal analysis. Unlike most existing controllers using…