So-called robot–object Lagrangian systems consist of a class of nonsmooth underactuated
complementarity Lagrangian systems, with a specific structure: an “object” and a “robot” …

Magnetic modular cubes are cube-shaped bodies with embedded permanent magnets. The
cubes are uniformly controlled by a global time-varying magnetic field. A 2D physics …

This paper presented a regrasp planning method to eliminate grasp uncertainty while
considering the geometric constraints of a fixture. The method automatically finds the Stable …

In this video, we present theoretical and practical methods for achieving arbitrary
reconfiguration of a set of objects, based on the use of external forces, such as a magnetic …

This thesis focuses on designing mechanical tools for two-finger parallel grippers and
enabling robots to manipulate various parts for assembly tasks. The manipulation ability of a …

We describe a variety of algorithmic challenges arising from coordination and
reconfiguration of swarms of potentially many objects, ranging in size from minuscule …