28 citations · 101 across the 6 of their papers we have counts for
6 papers
DisMech: A Discrete Differential Geometry-based Physical Simulator for Soft Robots and Structures
Andrew Choi, Ran Jing, Andrew Sabelhaus +1
Fast, accurate, and generalizable simulations are a key enabler of modern advances in robot design and control. However, existing simulation frameworks in robotics either model rig…
Sim2Real Neural Controllers for Physics-based Robotic Deployment of Deformable Linear Objects
Dezhong Tong, Andrew Choi, Longhui Qin +3
Deformable linear objects (DLOs), such as rods, cables, and ropes, play important roles in daily life. However, manipulation of DLOs is challenging as large geometrically nonlinear…
mBEST: Realtime Deformable Linear Object Detection Through Minimal Bending Energy Skeleton Pixel Traversals
Andrew Choi, Dezhong Tong, Brian Park +3
Robotic manipulation of deformable materials is a challenging task that often requires realtime visual feedback. This is especially true for deformable linear objects (DLOs) or "ro…
Learning Neural Force Manifolds for Sim2Real Robotic Symmetrical Paper Folding
Andrew Choi, Dezhong Tong, Demetri Terzopoulos +2
Robotic manipulation of slender objects is challenging, especially when the induced deformations are large and nonlinear. Traditionally, learning-based control approaches, such as…
A Fully Implicit Method for Robust Frictional Contact Handling in Elastic Rods
Dezhong Tong, Andrew Choi, Jungseock Joo +1
Accurate frictional contact is critical in simulating the assembly of rod-like structures in the practical world, such as knots, hairs, flagella, and more. Due to their high geomet…
Preemptive Motion Planning for Human-to-Robot Indirect Placement Handovers
Andrew Choi, Mohammad Khalid Jawed, Jungseock Joo
As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any…