9 papers
Spacetime Optimal-Transport Attention for Visuo-Haptic Imitation Learning of Contact-Rich Manipulation
Yue Feng, Weicheng Huang, I-Ming Chen
Contact-rich manipulation tasks such as tight-clearance insertion, connector mating, polishing, and surface-conforming wiping remain difficult for data-driven controllers because t…
Bilateral Teleoperation with Compliant 6-DOF Pose-and-Force Sensing
Yue Feng, Weicheng Huang, I-Ming Chen
Existing bilateral teleoperation platforms still rely on costly rigid six-axis force/torque sensors, tightly coupled leader-follower hardware, and kilohertz control loops. We prese…
Delta6: A Low-Cost, 6-DOF Force-Sensing Flexible End-Effector
Yue Feng, Weicheng Huang, Chen Qiu +2
This paper presents Delta6, a low-cost, six-degree-of-freedom (6-DOF) force/torque end-effector that combines antagonistic springs with magnetic encoders to deliver accurate wrench…
ComFree-Sim: A GPU-Parallelized Analytical Contact Physics Engine for Scalable Contact-Rich Robotics Simulation and Control
Chetan Borse, Zhixian Xie, Wei-Cheng Huang +1
Physics simulation for contact-rich robotics is often bottlenecked by contact resolution: mainstream engines enforce non-penetration and Coulomb friction via complementarity constr…
Discrete Differential Geometry for Simulating Nonlinear Behaviors of Flexible Systems: A Survey
Dezhong Tong, Andrew Choi, Jiaqi Wang +7
Flexible slender structures such as rods, ribbons, plates, and shells exhibit extreme nonlinear responses bending, twisting, buckling, wrinkling, and self contact, that defy conven…
Real-time simulation enabled navigation control of magnetic soft continuum robots in confined lumens
Dezhong Tong, Zhuonan Hao, Jiyu Li +4
Magnetic soft continuum robots (MSCRs) have emerged as a promising technology for minimally invasive interventions, offering enhanced dexterity and remote-controlled navigation in…
Harnessing Discrete Differential Geometry: A Virtual Playground for the Bilayer Soft Robotics
Jiahao Li, Dezhong Tong, Zhuonan Hao +4
Soft robots have garnered significant attention due to their promising applications across various domains. A hallmark of these systems is their bilayer structure, where strain mis…
Inverse Design of Snap-Actuated Jumping Robots Powered by Mechanics-Aided Machine Learning
Dezhong Tong, Zhuonan Hao, Mingchao Liu +1
Exploring the design and control strategies of soft robots through simulation is highly attractive due to its cost-effectiveness. Although many existing models (e.g., finite elemen…
Inverse Design of Planar Clamped-Free Elastic Rods from Noisy Data
Dezhong Tong, Zhuonan Hao, Weicheng Huang
Slender structures, such as rods, often exhibit large nonlinear geometrical deformations even under moderate external forces (e.g., gravity). This characteristic results in a rich…