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cs.RO2023
Intersection-free Robot Manipulation with Soft-Rigid Coupled Incremental Potential Contact
Wenxin Du, Siqiong Yao, Xinlei Wang +3
This paper presents a novel simulation platform, ZeMa, designed for robotic manipulation tasks concerning soft objects. Such simulation ideally requires three properties: two-way s…
cs.RO2023
TacIPC: Intersection- and Inversion-free FEM-based Elastomer Simulation For Optical Tactile Sensors
Wenxin Du, Wenqiang Xu, Jieji Ren +2
Tactile perception stands as a critical sensory modality for human interaction with the environment. Among various tactile sensor techniques, optical sensor-based approaches have g…