6 accepted papers
This paper proposes a novel approach to address the technical challenges of stable object grasping, particularly in the context of handling tableware in a home environment. Handling tableware is particularly important, yet challenging, due to the flat nature of most tableware objects and the need to…
We propose a novel real-time physically-accurate simulator for long flexible cable manipulation. We first discretize the cable into multiple rigid link segments, each with complementarity-based contact model and inter-segment compliant coupling; and partition the cable into a number of subsystems, e…
We propose a novel real-time physically-accurate simulation framework for the snap connection process. For this, we first notice the peculiarities of the process, namely, small/smooth deformation, stiff connector and segmented contact. We then design our simulation to fully exploit these peculiariti…
We propose a novel data-driven learning-based contact clustering (i.e., of contact points and contact normals) framework for rigid-body robot simulation, with its accuracy established/verified by real experimental data. We first construct an experimental robotic setup with force/torque (F/T) sensors…
We propose a novel model-free optimal estimation and sensor placement framework for a high-DOF (degree-of-freedom) EKC (elastic kinematic chain) with only a limited number of IMU (inertial measurement unit) sensors based on POD (proper orthogonal decomposition) and MAP (maximum a posteriori) estimat…
We propose a novel fast simulation framework for soft objects/robots with intermittent contacts, whose contact areas/locations can be varying. We first perform a balanced model reduction of the full-order FEM (finite element method) model for each contact mode with the contact forcing as the input a…