Related papers: Dynamic simulation of task constrained of a rigid-…
This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry…
Reinforcement learning algorithms have shown great success in solving different problems ranging from playing video games to robotics. However, they struggle to solve delicate robotic problems, especially those involving contact…
Reinforcement learning (RL) has become widely adopted in robot control. Despite many successes, one major persisting problem can be very low data efficiency. One solution is interactive feedback, which has been shown to speed up RL…
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate…
Two-dimensional (planar) rigid-body impact mechanics for application in automobile collisions have been described by a number of researchers over the last several decades. Little has been discussed, however, regarding three-dimensional…
Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
Anisotropy of friction force is proved to be an important factor in various contact problems. We study dynamical behavior of thin plates with respect to symmetric and asymmetric orthotropic friction. Terminal motion of plates with circular…
We analyse a mechanical system in two-dimensional relative motion with friction. Although the system is simple, the peculiar interplay between two kinetic friction forces and gravity leads to the wide range of admissible solutions exceeding…
With advancing technologies, robotic manipulators and visual environment sensors are becoming cheaper and more widespread. However, robot control can be still a limiting factor for better adaptation of these technologies. Robotic…
A framework for performing event-driven, adaptive time step simulations of systems of rigid bodies interacting under stepped or terraced potentials in which the potential energy is only allowed to have discrete values is outlined. The…
Reinforcement learning (RL) algorithms find applications in inventory control, recommender systems, vehicular traffic management, cloud computing and robotics. The real-world complications of many tasks arising in these domains makes them…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
Modeling arbitrarily large deformations of surfaces smoothly embedded in three-dimensional space is challenging. The difficulties come from two aspects: the existing geometry processing or forward simulation methods penalize the difference…
Tried-and-true flapping wing robot simulation is essential in developing flapping wing mechanisms and algorithms. This paper presents a novel application-oriented flapping wing platform, highly compatible with various mechanical designs and…
This paper explores an eclectic range of path-planning methodologies engineered for rolling surfaces. Our focus is on the kinematic intricacies of rolling contact systems, which are investigated through a motion planning lens. Beyond…
In this work, we aim to teach robots to manipulate various thin-shell materials. Prior works studying thin-shell object manipulation mostly rely on heuristic policies or learn policies from real-world video demonstrations, and only focus on…
We developed a discrete two-dimensional model of a cantilever which incorporates the effects of inhomogeneity, the geometry of an attached particle, and the influence of external time-dependent forces. We provide a comparison between the…
In many applications free surface flow through rigid porous media has to be modeled. Examples refer to coastal engineering applications as well as geotechnical or biomedical applications. Albeit the frequent applications, slight…
Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…