4 accepted papers
Robust manipulation often hinges on a robot's ability to perceive extrinsic contacts—contacts between a grasped object and its surrounding environment. However, these contacts are difficult to observe through vision alone due to occlusions, limited resolution, and ambiguous near-contact states. In t…
We introduce Vib2Move, a novel approach for in-hand object reconfiguration that harnesses fingertip micro-vibrations and gravity to precisely reposition planar objects. Our framework comprises three key innovations. First, we design a vibration-based actuator that dynamically modulates the effective…
Robotic high-viscosity fluid deposition plays a pivotal role in various manufacturing applications including adhesive and sealant dispensing, as well as in the additive manufacturing of deformable materials, such as those employed in soft robotics. Uncompensated high-viscosity fluid deposition can l
In this paper, we discuss the mechanics and planning algorithms to slide an object on a horizontal planar surface via frictional patch contact made with its top surface. Here, we propose an asymmetric dual limit surface model to determine slip boundary conditions for both the top and bottom contact.…