10 papers
Compliant Sphere Lattice Contact: Distributed Contact Modeling for Sphere-Based Robot Representations
Nataliya Nechyporenko, Ava Abderezaei, Alessandro Roncone
Contact planning in robotics requires models that are both computationally efficient and physically accurate. Sphere-based robot representations satisfy the first requirement by en…
Compliant Explicit Reference Governor for Contact Friendly Robotic Manipulators
Yaashia Gautam, Gilberto Briscoe-Martinez, Adhitya Mohan +3
This paper introduces the Compliant Explicit Reference Governor (CERG), a modular reference management system that enables robots to interact physically with their environment unde…
MorphIt: Flexible Spherical Approximation of Robot Morphology for Representation-driven Adaptation
Nataliya Nechyporenko, Yutong Zhang, Sean Campbell +1
What if a robot could rethink its own morphological representation to better meet the demands of diverse tasks? Most robotic systems today treat their physical form as a fixed cons…
Physically Accurate Rigid-Body Dynamics in Particle-Based Simulation
Ava Abderezaei, Nataliya Nechyporenko, Joseph Miceli +2
Robotics demands simulation that can reason about the diversity of real-world physical interactions, from rigid to deformable objects and fluids. Current simulators address this by…
Design, Mapping, and Contact Anticipation with 3D-printed Whole-Body Tactile and Proximity Sensors
Carson Kohlbrenner, Anna Soukhovei, Caleb Escobedo +2
Robots operating in dynamic and shared environments benefit from anticipating contact before it occurs. We present GenTact-Prox, a fully 3D-printed artificial skin that integrates…
A Framework for the Systematic Evaluation of Obstacle Avoidance and Object-Aware Controllers
Caleb Escobedo, Nataliya Nechyporenko, Shreyas Kadekodi +1
Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, method…