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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.

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  HOME / POSTS / ALUMINUM RUBIK'S CUBE

Aluminum Rubik's Cube

May 2016   Bianchini-Love

Project Documents

  Rubiks_cube_CAD.zip

This is a long term project primarily for learning purposes and a novel product. I admire design and art, so this build can be considered an art project depending on the way you look at it. I'm working on this project with Bibit as my machining skills can easily use the help of an actual mechanical engineer. The goal is to create an Rubik's cubed machined out of aluminum that is the size of a standard Rubik's cube with 0.75" sub-cubes. Some adjustments are being made as the build progresses, so stay tuned for updates!