Given a desired object trajectory, how should a robot make contact to achieve it? This paper
proposes a global optimization model for this problem with alternated-sticking contact …

Given an object, an environment, and a goal pose, how should a robot make contact to
move it? Solving this problem requires reasoning about rigid-body dynamics, object and …

We present Dynamics-Guided Diffusion Model, a data-driven framework for generating
manipulator geometry designs for a given manipulation task. Instead of training different …

A novel grasp optimization algorithm for minimizing the net energy utilized by a five-fingered
humanoid robotic hand with twenty degrees of freedom for securing a precise grasp is …

Specifying tasks with videos is a powerful technique towards acquiring novel and general
robot skills. However, reasoning over mechanics and dexterous interactions can make it …

This paper addresses orientational alignment of a two-dimensional part toward a 2nd-order
form closure grasp with circular fingers. The alignment is formulated and analyzed as quasi …

We present Dynamics-Guided Diffusion Model (DGDM), a data-driven framework for
generating task-specific manipulator designs without task-specific training. Given object …

The goal of this thesis is to explore the problem of contact-rich robotic manipulation from an
optimization perspective. We plan to study the interplay between contact mechanics …

In jig-less robotic assembly tasks, parts are assumed to be supplied on a parts tray. If the
parts are in contact with the inner side (s) of the tray, it is difficult to grasp the parts with a …

This thesis investigates a reactive motion planning and controller framework that enables
robots to manipulate objects dexterously. We develop a robotic platform that can quickly and …