bianchini-love engineering
BIANCHINI-LOVE ENGINEERING ELECTRICAL AND MECHANICAL DESIGN
Welcome to Bianchini-Love Engineering (BLE), the website of Bibit Bianchini and Henry Love! On this website, you will find both of our portfolios, including projects we’ve each done separately (labeled as BIANCHINI and LOVE) as well as our collaborations (labeled as BIANCHINI-LOVE). While most of the projects here relate to our specific training in electrical (Henry) and mechanical (Bibit) engineering, we document other kinds of projects here too, such as music, art, and this website itself. We continually update this site with new content and features, so be sure to check often for updates! For more information about the creators, please visit the About page.
Featured:
Bianchini
Vysics: Object Reconstruction Under Occlusion by Fusing Vision and Contact-Rich Physics
Updated: Aug 13, 2025
We published our project on building dynamics models from vision and contact-rich robot interaction at Robotics Science and Systems (RSS) 2025 in Los Angeles. My co-authors are Penn postdoc Minghan Zhu, our advisor Professor Michael Posa, and three other collaborators: Mengti Sun, Bowen Jiang, and Professor Camillo J Taylor. Our project presents Vysics, which is a vision-and-physics framework for a robot to build an expressive geometry and dynamics model of a single rigid body, using a seconds-long RGBD video and the robot's proprioception.
Bianchini
Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity
Updated: Aug 13, 2025
We uploaded to arXiv our project on approximating global contact-implicit model predictive control (CI-MPC). My co-authors are Penn masters graduate Sharanya Venkatesh, our advisor Professor Michael Posa, and two PhD alumni of our lab: Alp Aydinoglu and Will Yang. Our project presents a novel combination of local control and global sampling to achieve a real-time controller capable of complex, generalizable contact-rich tasks, including SE(3) and SE(2) object reconfiguration in a tabletop setting. Our experiments include a 3D jack for SE(3) goals and planar push T for SE(2) goals.
Bianchini
Franka FR3 Category 2 E-Stop
Updated: Aug 13, 2025
A Category 2 stop on the Franka Research 3 (FR3) 6-DoF robotic arm is the best way to stop the robot arm with the least risk of damage to the robot's hardware. The FR3 ships only with a Category 1 stop Emergency Stop Device, but Franka supports adding on additional safe inputs. I built a replacement Emergency Stop Device which incorporates both the original Category 1 stop as well as an additional Category 2 stop, so we can use the latter as our first line of defense when trying to stop the robot with least risk of robot damage.
Bianchini
Sampling-Based MPC for Contact-Rich Manipulation
Updated: Mar 27, 2024
We were invited to give a talk at the Workshop on Leveraging Models for Contact-Rich Manipulation at the International Conference on Intelligent Robots and Systems (IROS) 2023 in Detroit, MI. I presented our progress on a contact-implicit robot controller for performing manipulation tasks. The controller works in real time thanks to local models that still preserve contact-derived multimodality, injected with global insights from sampling hypothetical end effector locations.