Emily Whiting — accepted AI-conference papers

2021

Falling Into Place: Drop Assembly of Interlocking Puzzles

Amy Sniffen, Zezhou Sun, Samuel E Lensgraf, Emily Whiting, Alberto Quattrini Li, Devin Balkcom

RSS 2021poster

This paper explores a system for assembling structures by dropping block components into place. During and after assembly; the blocks are held together by geometric interlock; so that fasteners or mortar are only needed to bind the final block to one of its neighbors. Drop assembly is a promising st…

Cited by 1 Source ↗PDF ↗Scholar ↗

2020

PuzzleFlex: kinematic motion of chains with loose joints

Samuel Lensgraf, Karim Itani, Yinan Zhang, Zezhou Sun, Yijia Wu, Alberto Quattrini Li +4

ICRA 2020poster

This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which are then linearized with respect to configuration space velocities, yielding a linear programming formulation that allows…

Cited by 9 Source ↗code ↗Scholar ↗