Jiayin Xie

2 accepted papers

2021

Computing a Task-Dependent Grasp Metric Using Second-Order Cone Programs

Amin Fakhari, Aditya Patankar, Jiayin Xie, Nilanjan Chakraborty

IROS 2021poster

Evaluating a grasp generated by a set of hand-object contact locations is a key component of many grasp planning algorithms. In this paper, we present a novel second-order cone program (SOCP) based optimization formulation for evaluating a grasps’ ability to apply wrenches to generate a linear motio…

Cited by 3 Source ↗Scholar ↗

2019

Rigid Body Motion Prediction with Planar Non-convex Contact Patch

Jiayin Xie, Nilanjan Chakraborty

ICRA 2019poster

We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact is assumed to be a planar non-convex contact patch. The planar non-convex contact patch can either be a topologically connected set or disconnected s…

Cited by 9 Source ↗Scholar ↗