Jingyi Xu

About me

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Bio: I am a finishing PhD student with Prof. Eckehard Steinbach at the Technical University of Munich (TUM). I studied Electrical Engineering and Information Technology at TUM for both Bachelor and Master (with the honor "passed with high distinction"). From April to October 2019, I was a visiting researcher in the AUTOLAB at UC Berkeley with Prof. Ken Goldberg.

Motivation: Manipulating deformable fragile objects or open containers is challenging. The grasp should resist disturbances while minimally deforming the object so as not to damage it or dislodge liquids.

Research interests: Modeling frictional contacts for compliant gripper jaws and learning robust grasps for 3D deformable objects.

Email Me jingyi[dot]xu[at]tum[dot]de
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Mon 10 May 2021

Modeling frictional non-planar contacts for compliant gripper jaws

When an object is grasped with compliant gripper jaws, the contact area might be non-planar. This work presents a friction model for such non-planar area contacts by using a limit surface. [Paper (ICRA 2017)] [Spotlight Talk] [Poster]

System Setup
Tactile Sensors
by …
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Publications
Mon 10 May 2021
1. 6DLS: Modeling Nonplanar Frictional Surface Contacts for Grasping using 6D Limit Surfaces.
  Jingyi Xu, Tamay Aykut, Daolin Ma, Eckehard Steinbach. IEEE Transactions on Robotics (TRO), 2021.
  [Paper] [Video] [Code]
2. Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects.
  Jingyi Xu, Michael Danielczuk, Jeffrey Ichnowski, Jeffrey Mahler, Eckehard Steinbach, Ken …
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System Setup Tactile Sensors by …

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Other articles

Modeling frictional non-planar contacts for compliant gripper jaws