2 papers
cs.RO2026
Multi-Modal Non-Prehensile Estimation of Physical Parameters via Press-and-Pull Tipping
Steven M. Hyland, Jing Xiao, Cagdas D. Onal
Recovering physical properties of unknown objects through non-prehensile interaction is challenging because no single manipulation primitive reveals all relevant parameters. Planar…
cs.RO2026
Before the Tipping Point: Force-Guided Active Perception for Shape-Agnostic Estimation of 3D Centers of Mass
Steven M. Hyland, Jing Xiao, Cagdas D. Onal
Estimating the 3D center of mass of unknown objects is challenging when grasping is infeasible, geometry is irregular, or mass distribution is uneven. We present a force-based meth…