Publications (5)
Fabrica: Dual-Arm Assembly of General Multi-Part Objects via Integrated Planning and Learning
Yunsheng Tian, Joshua Jacob, Yijiang Huang +10
Multi-part assembly poses significant challenges for robots to execute long-horizon, contact-rich manipulation with generalization across complex geometries. We present Fabrica, a…
ASAP: Automated Sequence Planning for Complex Robotic Assembly with Physical Feasibility
Yunsheng Tian, Karl D. D. Willis, Bassel Al Omari +10
The automated assembly of complex products requires a system that can automatically plan a physically feasible sequence of actions for assembling many parts together. In this paper…
Printed helicoids with embedded air channels make sensorized segments for soft continuum robots
Annan Zhang, Hanna Matusik, Miguel Flores-Acton +3
Soft robots enable safe, adaptive interaction with complex environments but remain difficult to sense and control due to their highly deformable structures. Architected soft materi…
NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception
Zhiyang Dou, John U. Onyemelukwe, Hangxing Zhang +9
NeuralActuator is a neural network model that predicts actuator effort, external contact forces, and motor condition for low‑cost robot arms, using differentiable simulation and a…
How Can Large Language Models Help Humans in Design and Manufacturing?
Liane Makatura, Michael Foshey, Bohan Wang +15
The advancement of Large Language Models (LLMs), including GPT-4, provides exciting new opportunities for generative design. We investigate the application of this tool across the…