相关论文: Sculpt, Deploy, Repeat: Fast Prototyping of Intera…
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…
Simulation is a foundational tool for the analysis and testing of cyber-physical systems (CPS), underpinning activities such as algorithm development, runtime monitoring, and system verification. As CPS grow in complexity and scale,…
Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated…
Modeling deformable objects - especially continuum materials - in a way that is physically plausible, generalizable, and data-efficient remains challenging across 3D vision, graphics, and robotic manipulation. Many existing methods…
We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…
Generative AI tools are becoming more prevalent in 3D modeling, enabling users to manipulate or create new models with text or images as inputs. This makes it easier for users to rapidly customize and iterate on their 3D designs and explore…
While existing methods for reconstructing hand-object interactions have made impressive progress, they either focus on rigid or part-wise rigid objects-limiting their ability to model real-world objects (e.g., cloth, stuffed animals) that…
Workflow support typically focuses on single simulation experiments. This is also the case for simulation based on finite element methods. If entire simulation studies shall be supported, flexible means for intertwining revising the model,…
We introduce DuoMorph, a design and fabrication method that synergistically integrates Fused Deposition Modeling (FDM) printing and pneumatic actuation to create novel shape-changing interfaces. In DuoMorph, the printed structures and…
One of the many secrets to the success and prevalence of insects is their versatile, robust, and complex exoskeleton morphology. A fundamental challenge in insect-inspired robotics has been the fabrication of robotic exoskeletons that can…
This scientific paper explores two distinct approaches for identifying and approximating the simulation model, particularly in the context of the snap process crucial to medical device assembly. Simulation models play a pivotal role in…
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…
Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…
Advances in 3D printing technology now enable the precise positioning of microscopic material voxels to form complex structures. Combined with emerging multi-material capabilities and printable responsive materials, this opens new…
Recent advances in digital avatar technology have enabled the generation of compelling virtual characters, but deploying these avatars on compute-constrained devices poses significant challenges for achieving realistic garment deformations.…
Three-dimensional (3D) printed preoperative planning models serve a critical role in the success of many medical procedures. However, many of these models do not portray the patient's complete anatomy due to their monolithic and static…
We present a framework for generating physically realizable assembly instructions from natural language descriptions. Unlike unconstrained text-to-3D approaches, our method operates within a discrete parts vocabulary, enforcing geometric…
We present an end-to-end virtual try-on pipeline, that can fit different clothes on a personalized 3-D human model, reconstructed using a single RGB image. Our main idea is to construct an animatable 3-D human model and try-on different…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
Open source hardware has the potential to revolutionise the way we build scientific instruments; with the advent of readily-available 3D printers, mechanical designs can now be shared, improved and replicated faster and more easily than…