相关论文: Model-free vision-based shaping of deformable plas…

Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…

This paper is focused on the question of simulation and visualiza- tion of 3D gel and paste dynamic effects. In a first part, we introduce a 3D physically based particle (or mass-interaction) model, with a small number of masses and few…

Nonprehensile manipulation is essential for manipulating objects that are too thin, large, or otherwise ungraspable in the wild. To sidestep the difficulty of contact modeling in conventional modeling-based approaches, reinforcement…

Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…

Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…

Automatic estimation of skinning transformations is a popular way to deform a single reference shape into a new pose by providing a small number of control parameters. We generalize this approach by efficiently enabling the use of multiple…

Reorienting diverse objects with a multi-fingered hand is a challenging task. Current methods in robotic in-hand manipulation are either object-specific or require permanent supervision of the object state from visual sensors. This is far…

The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…

This paper proposes a vision-based framework for a 7-degree-of-freedom robotic manipulator, with the primary objective of facilitating its capacity to acquire information from human hand demonstrations for the execution of dexterous…

When created faithfully from real-world data, Digital 3D representations of objects can be useful for human or computer-assisted analysis. Such models can also serve for generating training data for machine learning approaches in settings…

Fish swim by undulating their bodies. These propulsive motions require coordinated shape changes of a body that interacts with its fluid environment, but the specific shape coordination that leads to robust turning and swimming motions…

We present Neural Generalized Implicit Functions(Neural-GIF), to animate people in clothing as a function of the body pose. Given a sequence of scans of a subject in various poses, we learn to animate the character for new poses. Existing…

Manipulating three-dimensional (3D) deformable objects presents significant challenges for robotic systems due to their infinite-dimensional state space and complex deformable dynamics. This paper proposes a novel model-free approach for…

The world around us is full of soft objects we perceive and deform with dexterous hand movements. For a robotic hand to control soft objects, it has to acquire online state feedback of the deforming object. While RGB-D cameras can collect…

Learning object manipulation is a critical skill for robots to interact with their environment. Even though there has been significant progress in robotic manipulation of rigid objects, interacting with non-rigid objects remains challenging…

Locating and grasping of objects by robots is typically performed using visual sensors. Haptic feedback from contacts with the environment is only secondary if present at all. In this work, we explored an extreme case of searching for and…

The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…

Conventional subtractive manufacturing inevitably involves material loss during geometric realization, while additive manufacturing still suffers from limitations in surface quality, process continuity, and productivity when fabricating…

Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…

Accurate manipulation of a deformable body such as a piece of fabric is difficult because of its many degrees of freedom and unobservable properties affecting its dynamics. To alleviate these challenges, we propose the application of…