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Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and…
The digital twins (DTs) of physical systems and environments enable real-time remote tracking, control, and learning, but require low-latency transmission of updates and sensory data to maintain alignment with their physical counterparts.…
With the rapid development of deep reinforcement learning technology, it gradually demonstrates excellent potential and is becoming the most promising solution in the robotics. However, in the smart manufacturing domain, there is still not…
Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…
This work is interested in digital twins, and the development of a simplified framework for them, in the context of dynamical systems. Digital twin is an ingenious concept that helps on organizing different areas of expertise aiming at…
Soft sensors have continued growing interest in robotics, due to their ability to enable both passive conformal contact from the material properties and active contact data from the sensor properties. However, the same properties of…
Digital twins, which are a new concept in industrial control systems (ICS), play a key role in realizing the vision of a smart factory, and they can have different effective use cases. With digital twins, we have virtual replicas of…
In many industries, the scale and complexity of systems can present significant barriers to the development of accurate digital twin models. This paper introduces a novel methodology and a modular computational tool utilizing machine…
Handheld grippers are increasingly used to collect human demonstrations due to their ease of deployment and versatility. However, most existing designs lack tactile sensing, despite the critical role of tactile feedback in precise…
Despite decades of research, general purpose in-hand manipulation remains one of the unsolved challenges of robotics. One of the contributing factors that limit current robotic manipulation systems is the difficulty of precisely sensing…
Tactile sensing holds great promise for enhancing manipulation precision and versatility, but its adoption in robotic hands remains limited due to high sensor costs, manufacturing and integration challenges, and difficulties in extracting…
A digital twin is a virtual replica of a real-world physical phenomena that uses mathematical modeling to characterize and simulate its defining features. By constructing digital twins for disease processes, we can perform in-silico…
Throughout our history, we, humans, have sought to better control and understand our environment. To this end, we have extended our natural senses with a host of sensors-tools that enable us to detect both the very large, such as the…
Boosting the sensitivity of solid-state gas sensors by incorporating nanostructured materials as the active sensing element can be complicated by interfacial effects. Interfaces at nanoparticles, grains, or contacts may result in non-linear…
Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their…
High-quality and controllable digital twins of surgical instruments are critical for Real2Sim in robot-assisted surgery, as they enable realistic simulation, synthetic data generation, and perception learning under novel poses. We present…
This survey examines recent advances in generating digital twins from visual data. These digital twins - virtual 3D replicas of physical assets - can be applied to robotics, media content creation, design or construction workflows. We…
In this work, we aim to teach robots to manipulate various thin-shell materials. Prior works studying thin-shell object manipulation mostly rely on heuristic policies or learn policies from real-world video demonstrations, and only focus on…
Future manufacturing requires complex systems that connect simulation platforms and virtualization with physical data from industrial processes. Digital twins incorporate a physical twin, a digital twin, and the connection between the two.…
Soft slender structures are ubiquitous in natural and artificial systems and can be observed at scales that range from the nanometric to the kilometric, from polymers to space tethers. We present a practical numerical approach to simulate…