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09/20/2023
Task-Oriented Grasping with Point Cloud Representation of Objects
In this paper, we study the problem of task-oriented grasp synthesis fro...
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09/13/2022
Human-Guided Planning for Complex Manipulation Tasks Using the Screw Geometry of Motion
In this paper, we present a novel method for motion planning for perform...
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03/20/2022
Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees
As collaborative robots move closer to human environments, motion genera...
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04/25/2021
Computing a Task-Dependent Grasp Metric Using Second Order Cone Programs
Evaluating a grasp generated by a set of hand-object contact locations i...
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04/16/2021
Task Space Planning with Complementarity Constraint-based Obstacle Avoidance
In this paper, we present a task space-based local motion planner that i...
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12/10/2020
Motion and Force Planning for Manipulating Heavy Objects by Pivoting
Manipulation of objects by exploiting their contact with the environment...
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10/05/2020
Dynamic Simulation-Guided Design of Tumbling Magnetic Microrobots
Design of robots at the small scale is a trial-and-error based process, ...
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10/05/2020
Rigid Body Dynamic Simulation with Line and Surface Contact
In this paper, we develop a principled method to model line and surface ...
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10/05/2020
Modeling and Prediction of Rigid Body Motion with Planar Non-Convex Contact
We present a principled method for motion prediction via dynamic simulat...
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06/25/2020
Robust Relative Hand Placement For Bi-Manual Tasks
In many bi-manual robotic tasks, like peg-in-a-hole assembly, the succes...
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10/24/2019
Computing Robust Inverse Kinematics Under Uncertainty
Robotic tasks, like reaching a pre-grasp configuration, are specified in...
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07/30/2019
Towards Dynamic Simulation Guided Optimal Design of Tumbling Microrobots
Design of robots at the small scale is a trial-and-error based process, ...
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04/15/2019
Rigid Body Motion Prediction with Planar Non-convex Contact Patch
We present a principled method for motion prediction via dynamic simulat...
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09/14/2018
Rigid Body Dynamic Simulation with Multiple Convex Contact Patches
We present a principled method for dynamic simulation of rigid bodies in...
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09/14/2018