Design Space Exploration for Spatial Linkages
The goal of this project is to develop a computational method for exploring the design space of spatial linkages, i.e., the space of parameter values that lead to mechanically feasible motion.
Simulation-based Learning for Robotic Unfolding of Wrinkled Garments
The goal this project is to explore the potential of using differentiable physics simulation and machine learning in the context of robotic manipulation of soft materials.
Print-on-Fabric: Controlling Material Properties of Textiles through 3D-Printed Reinforcements
The goal this project is to explore the potential of using 3D-printing for controlling the mechanical properties of textiles in locally adaptive ways. The student will develop a computational model for predicting the mechanical behavior of woven textiles reinforced with 3D-printed tracks.
Robotic clay modeling
Robots can perform many tasks today, but can they model clay? In contrast to previous robotic manipulation technique, which mostly deal with hard materials, in this project we will explore robotic manipulation of materials that \emph{flow}: clay, plaster, stucco, etc. Our ultimate goal is to control a robot that can perform sculpting tasks or pottery like the ones in the picture above.
HoloAssembly: Learn an assembly task using HoloLens
One of the most exciting uses of mixed-reality head-mounted devices like the Microsoft HoloLensis to assist a user to learn / perform tasks.The HoloLens sees the world through a depth and a RGB camera, and can map the position of theuser in the real world through the built-in head tracking. It can also provide compelling experienceswhere virtual 3D objects (holograms) are mixed with real ones in the real world. However, the devicedoes not have capabilities yet to reason about what the user is doing, or how they should interact withthe objects around. The goal of this project is to start exploring this area, by building a HoloLensapp to assist the user in a pre-determined assembly task – like assemblying a piece of Ikea furniture.The student will get access to a HoloLens 2 device, and will therefore be able to leverage recentcapabilities like fully articulated hand tracking and eye gaze tracking.

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