相关论文: Clarke Transform -- A Fundamental Tool for Continu…
We investigate discrete spin transformations, a geometric framework to manipulate surface meshes by controlling mean curvature. Applications include surface fairing -- flowing a mesh onto say, a reference sphere -- and mesh extrusion --…
In order to meet the requirements of practical applications, a model of deforming manifold in the embedded space is proposed. The deforming vector and deforming field are presented to precisely describe the deforming process, which have…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Robotic cloth manipulation faces challenges due to the fabric's complex dynamics and the high dimensionality of configuration spaces. Previous methods have largely focused on isolated smoothing or folding tasks and overly reliant on…
Multiple domains like vision, natural language, and audio are witnessing tremendous progress by leveraging Transformers for large scale pre-training followed by task specific fine tuning. In contrast, in robotics we primarily train a single…
Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior. In this work, we resolve this conflict with a smooth, implicit…
Continuum robots (CRs), owing to their compact structure, inherent compliance, and flexible deformation, have been widely applied in various fields. By coordinating multiple CRs to form collaborative continuum robots (CCRs), task…
Successive differences on a sequence of data help to discover some smoothness features of this data. This was one of the main reasons for rewriting the classical interpolation formula in terms of such data differences. The aim of this paper…
A geometric analysis of the Shake and Rattle methods for constrained Hamiltonian problems is carried out. The study reveals the underlying differential geometric foundation of the two methods, and the exact relation between them. In…
The landscape of Deep Learning has experienced a major shift with the pervasive adoption of Transformer-based architectures, particularly in Natural Language Processing (NLP). Novel avenues for physical applications, such as solving Partial…
Contact feedback is essential for contact-rich robotic manipulation, as it allows the robot to detect subtle interaction changes and adjust its actions accordingly. Six-axis force-torque sensors are commonly used to obtain contact feedback,…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
This paper addresses the Motion Execution Gap, the disconnect between high-level symbolic task descriptions using semantic constraints and executable robot motions. Motion Statecharts are introduced as an executable symbolic representation…
The fully covariant formulation of transformation optics is used to find the configuration of a cloaking device operating in an expanding universe modelled by a Friedmann-Lema\^itre-Robertson-Walker spacetime. This spacetime cloak is used…
Over the last two decades, the robotics community witnessed the emergence of various motion representations that have been used extensively, particularly in behavorial cloning, to compactly encode and generalize skills. Among these,…
Robots have been critical instruments to space exploration by providing access to environments beyond human limitations. Jumping robot concepts are attractive solutions to negotiate complex terrain. However, among the engineering challenges…
Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environments. However, the study of path planning for CRs while…
A generalized Clifford manifold is proposed in which there are coordinates not only for the basis vector generators, but for each element of the Clifford group, including the identity scalar. These new quantities are physically interpreted…
We study the problem of determining coordinated motions, of minimum total length, for two arbitrary convex centrally-symmetric (CCS) robots in an otherwise obstacle-free plane. Using the total path length traced by the two robot centres as…
Decentralized network theories focus on achieving consensus and in speeding up the rate of convergence to consensus. However, network cohesion (i.e., maintaining consensus) during transitions between consensus values is also important when…