相关论文: Complex picking via entanglement of granular mecha…
Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception, and motion planning. Here we circumvent the need for feedback or precise planning by using an array…
Entangled matter displays unusual and attractive properties and mechanisms: tensile strength, capabilities for assembly and disassembly, damage tolerance. While some of the attributes and mechanisms share some traits with traditional…
Granular media near jamming exhibit fascinating properties, which can be harnessed to create jammed-granulate metamaterials: materials whose characteristics arise not only from the shape and material properties of the particles at the…
Entangled matter provides intriguing perspectives in terms of deformation mechanisms, mechanical properties, assembly and disassembly. However, collective entanglement mechanisms are complex, occur over multiple length scales, and they are…
This paper addresses the problem of picking up only one object at a time avoiding any entanglement in bin-picking. To cope with a difficult case where the complex-shaped objects are heavily entangled together, we propose a topology-based…
Construction throughout history typically assumes that its blueprints and building blocks are pre-determined. However, recent work suggests that alternative approaches can enable new paradigms for structure formation. Aleatory…
Industrial bin picking for tangled-prone objects requires the robot to either pick up untangled objects or perform separation manipulation when the bin contains no isolated objects. The robot must be able to flexibly perform appropriate…
Many organisms exhibit branching morphologies that twist around each other and become entangled. Entanglement occurs when different objects interlock, creating complex and often irreversible configurations. This physical phenomenon is…
Highly nonconvex granular particles, such as staples and metal shavings, can form solid-like cohesive structures through geometric entanglement (interlocking). The network structure formed by this entanglement, however, remains largely…
We investigate the influence of particle stiffness on the grasping performance of granular grippers, a class of soft robotic effectors that utilize granular jamming for object manipulation. Through experimental analyses and X-ray imaging,…
Packing problems, which ask how to arrange a collection of objects in space to meet certain criteria, are important in a great many physical and biological systems, where geometrical arrangements at small scales control behaviour at larger…
The picking of one or more objects from an unsorted pile continues to be non-trivial for robotic systems. This is especially so when the pile consists of a granular material (GM) containing individual items that tangle with one another,…
The complexity of condensed matter arises from emergent behaviors that cannot be understood by analyzing individual constituents in isolation. While traditional condensed-matter approaches-developed primarily for ideal crystalline…
while most of the tactile robots are operated in close-set conditions, it is challenging for them to operate in open-set conditions where test objects are beyond the robots' knowledge. We proposed an open-set recognition framework using…
Soft-granular media, such as dense emulsions, foams or tissues, exhibit either fluid- or solid-like properties depending on the applied external stresses. Whereas bulk rheology of such materials has been thoroughly investigated, the…
Traditional clustering identifies groups of objects that share certain qualities. Tangles do the converse: they identify groups of qualities that often occur together. They can thereby discover, relate, and structure types: of behaviour,…
Mutually repelling particles form spontaneously ordered clusters when forced into confinement. The clusters may adopt similar spatial arrangements even if the underlying particle interactions are contrastingly different. Here we demonstrate…
Food packing industries typically use seasonal ingredients with immense variety that factory workers manually pack. For small pieces of food picked by volume or weight that tend to get entangled, stick or clump together, it is difficult to…
Granular convergence is a property of a granular pack as it is repeatedly sheared in a cyclic, quasistatic fashion, as the packing configuration changes via discrete events. Under suitable conditions the set of microscopic configurations…
The properties of small clusters depend dramatically on the interactions between their constituent particles. However, it remains challenging to design and tune the interactions between macroscopic particles, such as in a granular material.…