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SEQUENCE:1
X-APPLE-TRAVEL-ADVISORY-BEHAVIOR:AUTOMATIC
234736
20260414T141458Z
DTSTART;TZID=America/New_York:20260430T093000
DTEND;TZID=America/New_York:2
 0260430T110000
URL;TYPE=URI:https://www.wpi.edu/news/calendar/events/robot
 ics-engineering-phd-speaking-and-writing-qualifiers-presentation-shambhura
 j-mane
Robotics Engineering PhD Speaking and Writing Qualifiers Presentation - Shambhuraj Mane
Dexterity is in contact\n\n\n\n      \n      \n\n\n\nAbstract: The human ha
 nd is a marvel of dexterity. Modern robotics has long equated dexterity wi
 th anthropomorphism—building hands that look like ours and replicate our
  grasping postures. Yet, despite decades of research in articulation, robo
 ts still struggle with simple tasks like adjusting a key before insertion 
 or shifting a pen into a writing grip. Why? Because we have mimicked the f
 orm of the hand while ignoring the mechanism that governs the physics atth
 e contact. In this talk, I argue that true dexterity lies not in articulat
 ion, but in friction modulation. By dynamically controlling friction, we c
 an selectively slide and roll the object within the hand. First, I briefly
  present our novel gripper design with embedded vibration modules. By modu
 lating friction, it offers a compact, scalable approach that can dramatica
 lly enhance the gripper's manipulation workspace. I then introduce a novel
  planning framework that simultaneously plans for the object and the finge
 r surface. We demonstrate complex, physically realizable trajectories that
  were previously "invisible" to traditional object-centric planners. While
  sliding is often treated as incidental, this work demonstrates a foundati
 onal step toward its deliberate use.\nAdvisor: Professor Berk CalliCommitt
 ee: Professor Jing Xiao, Professor Constantinos Chamzas\nZoom link: https:
 //wpi.zoom.us/j/99934570121\n
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