Related papers: A-SLIP: Acoustic Sensing for Continuous In-hand Sl…
In this paper, we present asymmetric pivot manipulation for picking up rigid hollow objects to achieve a hole grasp. The pivot motion, executed by a position-controlled robotic arm, enables the gripper to effectively grasp hollow objects…
An analysis of stick-slip behavior and convergence of trajectories in the feedback-controlled motion systems with discontinuous Coulomb friction is provided. A closed-form parameter-dependent stiction region, around an invariant equilibrium…
Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and…
Precise tracking of the jaw kinematics is crucial for diagnosing various musculoskeletal and neuromuscular diseases affecting the masticatory system and for advancing rehabilitative devices such as jaw exoskeletons, a hardly explored…
We investigate in-hand regrasping by pushing an object against an external constraint and allowing sliding at the fingertips. Each fingertip is modeled as attached to a multidimensional spring mounted to a position-controlled anchor. Spring…
When a micro cantilever with a nano-scale tip is manipulated on a substrate with atomic-scale roughness, the periodic lateral frictional force and stochastic fluctuations may induce stick-slip motion of the cantilever tip, which greatly…
Visual Speech Recognition (VSR) aims to recognize corresponding text by analyzing visual information from lip movements. Due to the high variability and weak information of lip movements, VSR tasks require effectively utilizing any…
In the field of medical decision-making, precise anomaly detection in medical imaging plays a pivotal role in aiding clinicians. However, previous work is reliant on large-scale datasets for training anomaly detection models, which…
Super-hydrophobic array of grooves containing trapped gas (stripes), have the potential to greatly reduce drag and enhance mixing phenomena in microfluidic devices. Recent work has focused on idealized cases of stick-perfect slip stripes,…
With the increasing adoption of video anomaly detection in intelligent surveillance domains, conventional visual-based detection approaches often struggle with information insufficiency and high false-positive rates in complex environments.…
A common and effective form of social touch is stroking on the forearm. We seek to replicate this stroking sensation using haptic illusions. This work compares two methods that provide sequential discrete stimulation: sequential normal…
This paper presents a sampling-based planning algorithm for in-hand manipulation of a grasped object using a series of external pushes. A high-level sampling-based planning framework, in tandem with a low-level inverse contact dynamics…
Accurately simulating whether an object will be lifted securely or dropped during grasping is a longstanding Sim2Real challenge. Soft compliant jaw tips are almost universally used with parallel-jaw robot grippers due to their ability to…
Sound-tracking refers to the process of determining the direction from which a sound originates, making it a fundamental component of sound source localization. This capability is essential in a variety of applications, including security…
A successful grasp requires careful balancing of the contact forces. Deducing whether a particular grasp will be successful from indirect measurements, such as vision, is therefore quite challenging, and direct sensing of contacts through…
The robustness of event cameras to high dynamic range and motion blur holds the potential to improve visual odometry systems in challenging environments. Although their high temporal resolution does not require synchronous processing, most…
Intermittent motion, called stick--slip, is a friction instability that commonly occurs during relative sliding of two elastic solids. In adhesive polymer contacts, where elasticity and interface adhesion are strongly coupled, stick--slip…
Robust, low-cost solutions are needed to maintain social distancing guidelines during the COVID-19 pandemic. We establish a method to measure the distance between multiple phones across a large number of closely spaced smartphones with a…
Visual anomaly detection has been widely used in industrial inspection and medical diagnosis. Existing methods typically demand substantial training samples, limiting their utility in zero-/few-shot scenarios. While recent efforts have…
Air-writing is the process of writing characters or words in free space using finger or hand movements without the aid of any hand-held device. In this work, we address the problem of mid-air finger writing using web-cam video as input. In…