8 papers
Computing a Task-Dependent Grasp Metric Using Second Order Cone Programs
Amin Fakhari, Aditya Patankar, Jiayin Xie +1
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 pro…
Rigid Body Dynamic Simulation with Line and Surface Contact
Jiayin Xie, Nilanjan Chakraborty
In this paper, we develop a principled method to model line and surface contact with point contact (we call this point, equivalent contact point) that is consistent with physics-ba…
Dynamic Simulation-Guided Design of Tumbling Magnetic Microrobots
Jiayin Xie, Chenghao Bi, David J. Cappelleri +1
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict t…
Modeling and Prediction of Rigid Body Motion with Planar Non-Convex Contact
Jiayin Xie, Nilanjan Chakraborty
We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact region is a planar non-convex…
Towards Dynamic Simulation Guided Optimal Design of Tumbling Microrobots
Jiayin Xie, Chenghao Bi, David J. Cappelleri +1
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or perf…
Rigid Body Motion Prediction with Planar Non-convex Contact Patch
Jiayin Xie, Nilanjan Chakraborty
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…