相关论文: Tool Macgyvering: Tool Construction Using Geometri…

Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful guarantees in terms of robustness to uncertainty, and often…

Building of tools--from simple prototypes to industrial-strength applications--is a pervasive activity in academic research. When proposing a new technique for software maintenance, effective tool support is typically required to…

The paper presents a new formal way of modeling and designing reconfigurable robots, in which case the robots are allowed to reconfigure not only structurally but also functionally. We call such kind of robots "self-evolvable", which have…

It is a crucial problem in robotics field to cage an object using robots like multifingered hand. However the problem what is the caging for general geometrical objects and robots has not been well-described in mathematics though there were…

Shape assembly, the process of combining parts into a complete whole, is a crucial robotic skill with broad real-world applications. Among various assembly tasks, geometric assembly--where broken parts are reassembled into their original…

Computational tools for fabrication often treat materials as passive rather than active participants in design, abstracting away relationships between craftspeople and materials. For craft communities that value relational practices,…

Paper is a cheap, recyclable, and clean material that is often used to make practical tools. Traditional tool design either relies on simulation or physical analysis, which is often inaccurate and time-consuming. In this paper, we propose…

Rapidly applying the effects of detector response to physics objects (e.g. electrons, muons, showers of particles) is essential in high energy physics. Currently available tools for the transformation from truth-level physics objects to…

Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…

3D generative AI enables rapid and accessible creation of 3D models from text or image inputs. However, translating these outputs into physical objects remains a challenge due to the constraints in the physical world. Recent studies have…

One of the open challenges in designing robots that operate successfully in the unpredictable human environment is how to make them able to predict what actions they can perform on objects, and what their effects will be, i.e., the ability…

To wield an object means to hold and move it in a way that exploits its functions. When humans wield tools -- such as writing with a pen or cutting with scissors -- our hands would reach very specific poses, often drastically different from…

Geometrically complex masonry structures (e.g., arches, domes, vaults) are traditionally built with expensive scaffolding or falsework to provide stability during construction. The process of building such structures can potentially be…

For the majority of tasks performed by traditional serial robot arms, such as bin picking or pick and place, only two or three degrees of freedom (DOF) are required for motion; however, by augmenting the number of degrees of freedom,…

Microstructures, characterized by intricate structures at the microscopic scale, hold the promise of important disruptions in the field of mechanical engineering due to the superior mechanical properties they offer. One fundamental…

Recent developments in 3D generative AI enable users to create bespoke 3D models from text or image prompts. However, these approaches provide limited control over spatial structure, making them ill suited for tasks requiring precise…

Human-robot collaboration in construction is often challenged by limited robot-to-human communication and the need to adapt to tolerance accumulation arising from material and assembly uncertainties. We present an adaptive human-robot…

Multi-level evolution is a bottom-up robotic design paradigm which decomposes the design problem into layered sub-tasks that involve concurrent search for appropriate materials, component geometry and overall morphology. Each of the three…

Advances in CAD and CAM have enabled engineers and design teams to digitally design parts with unprecedented ease. Software solutions now come with a range of modules for optimizing designs for performance requirements, generating…

For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…