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SEQUENCE:1
X-APPLE-TRAVEL-ADVISORY-BEHAVIOR:AUTOMATIC
234261
20260406T143636Z
DTSTART;TZID=America/New_York:20260430T130000
DTEND;TZID=America/New_York:2
 0260430T143000
URL;TYPE=URI:https://www.wpi.edu/news/calendar/events/robot
 ics-engineering-masters-thesis-presentation-samruddhi-naukudkar
Robotics Engineering Master\'s Thesis Presentation: Samruddhi Naukudkar
Dynamic Modeling and Analysis of Vibration-Induced Friction Modulation for Controlled Sliding in Robotic In-Hand Manipulation\n\n\n\n      \n      \n\n\n\nAbstract:
  In-hand manipulation, the ability to reposition an object within a roboti
 c hand without regrasping is a fundamental yet challenging capability in r
 obotic dexterous manipulation. A critical bottleneck is the difficulty of 
 achieving controlled sliding at the finger-object contact interface, prima
 rily because friction at contact points is difficult to regulate without p
 recise knowledge of object surface properties. This thesis investigates vi
 bration-induced friction modulation as a strategy to enable controlled sli
 ding for in-hand manipulation. Specifically, we develop a dynamic model of
  the Eccentric Rotating Mass (ERM) vibration system embedded in robotic fi
 ngers, capturing the position-dependent force amplification behavior. A pa
 rametric analysis is conducted to study the effects of vibration frequency
 , amplitude, and object mass on friction modulation efficacy. Simulation r
 esults from Ansys Mechanical modal analysis are validated against accelero
 meter measurements to confirm the velocity direction predictions. This wor
 k provides a principled modeling foundation that extends prior empirical f
 indings and lays the groundwork for design optimization of vibration-induc
 ed variable-friction (VIVF) grippers without requiring per-design velocity
  field characterization from scratch.\nAdvisor: Professor Berk CalliCommit
 tee: Professor Vincent Aloi, Professor Connor McCann\nZoom Link: https://w
 pi.zoom.us/j/3941468364?omn=93771501093\n
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