8 papers
A scaling law for large-deformation contact in soft materials
Tong Mu, Shizhuo Weng, Changhong Linghu +10
Compression of soft bodies is central to biology, materials science, and robotics, yet existing contact theories break down at large deformations. Here, we develop a general framew…
Recasting Classical Motion Planning for Contact-Rich Manipulation
Lin Yang, Huu-Thiet Nguyen, Chen Lv +1
In this work, we explore how conventional motion planning algorithms can be reapplied to contact-rich manipulation tasks. Rather than focusing solely on efficiency, we investigate…
A Planning Framework for Stable Robust Multi-Contact Manipulation
Lin Yang, Sri Harsha Turlapati, Zhuoyi Lu +2
While modeling multi-contact manipulation as a quasi-static mechanical process transitioning between different contact equilibria, we propose formulating it as a planning and optim…
Haptic-based Complementary Filter for Rigid Body Rotations
Amit Kumar, Domenico Campolo, Ravi N. Banavar
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic in…
Sensorized gripper for human demonstrations
Sri Harsha Turlapati, Gautami Golani, Mohammad Zaidi Ariffin +1
Ease of programming is a key factor in making robots ubiquitous in unstructured environments. In this work, we present a sensorized gripper built with off-the-shelf parts, used to…
Generalizing Robot Trajectories from Single-Context Human Demonstrations: A Probabilistic Approach
Qian Ying Lee, Suhas Raghavendra Kulkarni, Kenzhi Iskandar Wong +4
Generalizing robot trajectories from human demonstrations to new contexts remains a key challenge in Learning from Demonstration (LfD), particularly when only single-context demons…