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Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…
Simulation frameworks such as Isaac Sim have enabled scalable robot learning for locomotion and rigid-body manipulation; however, contact-rich simulation remains a major bottleneck for deformable object manipulation. The continuously…
Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…
Tactile skins made from textiles enhance robot-human interaction by localizing contact points and measuring contact forces. This paper presents a solution for rapidly fabricating, calibrating, and deploying these skins on industrial robot…
Aluminum alloys are increasingly utilized as lightweight materials in the automobile industry due to their superior capability in withstanding high mechanical loads. A significant challenge impeding the large-scale use of these alloys in…
Calibration of fixtures in robotic work cells is essential but also time consuming and error-prone, and poor calibration can easily lead to wasted debugging time in downstream tasks. Contact-based calibration methods let the user measure…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
Configuring the parameters of additive manufacturing processes for metal alloys is a challenging problem due to complex relationships between input parameters (e.g., laser power, scan speed) and quality of printed outputs. The standard…
Laser material processing has emerged as a versatile and indispensable tool in various industries, including manufacturing, healthcare, and materials science. However, the interaction of a lasers with surfaces is highly dependent on a large…
With the application of appropriate surface structuring on aircrafts, up to 8\% fuel may be saved in regular air traffic. Before these techniques can be introduced into productive environments, a controlling method for the quality of…
Constructing precise micro-nano metal patterns on complex three-dimensional (3D) plastic parts allows the fabrication of functional devices for advanced applications. However, this patterning is currently expensive and requires complex…
3D part assembly aims to understand part relationships and predict their 6-DoF poses to construct realistic 3D shapes, addressing the growing demand for autonomous assembly, which is crucial for robots. Existing methods mainly estimate the…
Automated and autonomous industrial inspection is a longstanding research field, driven by the necessity to enhance safety and efficiency within industrial settings. In addressing this need, we introduce an autonomously navigating robotic…
Automotive manufacturing assembly tasks are built upon visual inspections such as scratch identification on machined surfaces, part identification and selection, etc, which guarantee product and process quality. These tasks can be related…
Curve and surface fairing is crucial in computer-aided geometric design, influencing product quality, physical performance, and aesthetics. Traditional methods often apply global modifications, lacking fine-grained control. This paper…
Large demand for robotics and automation has been reflected in the sanding works, as current manual operations are labor-intensive, without consistent quality, and also subject to safety and health issues. While several machines have been…
Humans effortlessly integrate common-sense knowledge with sensory input from vision and touch to understand their surroundings. Emulating this capability, we introduce FusionSense, a novel 3D reconstruction framework that enables robots to…
Flexible photonics offers the possibility to realize wearable sensors by bridging the advantages of flexible materials and photonic sensing elements. Recently, optical resonators have emerged as a tool to improve its over sensitivity by…
As capturing devices become common, 3D scans of interior spaces are acquired on a daily basis. Through scene comparison over time, information about objects in the scene and their changes is inferred. This information is important for…