Uploaded October 2022 | Updated September 2026, 2 hours ago
Maryland Robotics Center Seminar: Embodying Dexterity: Contact models for the design of robotic grasping and manipulation
Hannah Stuart
Assistant Professor
Department of Mechanical Engineering
University of California at Berkeley
For robots to perform helpful manual tasks, they must be able to physically interact with the real-world. The ability of robots to grasp and manipulate often depends on the strength and reliability of contact conditions, e.g. friction. In this talk, I will introduce how my lab is developing tools for "messy" or adversarial contact conditions -- granular/rocky media, fluids, human interaction -- to support the design of more capable systems. Developing models of contact enables parametric studies that can powerfully inform mechanical design of robots. Coupled with prototyping and experimental exploration, we generate new systems that better embody desired capabilities.
In particular, we are creating grippers, skins, tactile sensors, and wearables for the hands -- focusing on the point of contact. In this talk, I will draw upon recent examples including how we are (1) harnessing fluid flow in soft grippers to improve and monitor grasp state in unique ways, (2) modeling granular interaction forces to support new single- and multi-agent capabilities in sand, and (3) exploring assistive wearable device topologies for collaborative grasping.
For more information on the Maryland Robotics Center see:
https://robotics.umd.edu
Maryland Robotics Center Seminar: Embodying Dexterity: Contact models for the design of robotic grasping and manipulation
Hannah Stuart
Assistant Professor
Department of Mechanical Engineering
University of California at Berkeley
For robots to perform helpful manual tasks, they must be able to physically interact with the real-world. The ability of robots to grasp and manipulate often depends on the strength and reliability of contact conditions, e.g. friction. In this talk, I will introduce how my lab is developing tools for "messy" or adversarial contact conditions -- granular/rocky media, fluids, human interaction -- to support the design of more capable systems. Developing models of contact enables parametric studies that can powerfully inform mechanical design of robots. Coupled with prototyping and experimental exploration, we generate new systems that better embody desired capabilities.
In particular, we are creating grippers, skins, tactile sensors, and wearables for the hands -- focusing on the point of contact. In this talk, I will draw upon recent examples including how we are (1) harnessing fluid flow in soft grippers to improve and monitor grasp state in unique ways, (2) modeling granular interaction forces to support new single- and multi-agent capabilities in sand, and (3) exploring assistive wearable device topologies for collaborative grasping.
For more information on the Maryland Robotics Center see:
https://robotics.umd.edu
