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Binh’s research progress

Binh’s research progress. Last week : finalize dvc3D 1.0 Getting iterative method in dvc3D (in progress) Working on Candidacy plan. Past week. dvc3D 1.0 : Getting it run inside Blender: can create joints, model object(done) Getting Barrett WAM, hand geometries (done) Iterative approach :

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Binh’s research progress

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  1. Binh’s research progress • Last week : finalize dvc3D 1.0 • Getting iterative method in dvc3D (in progress) • Working on Candidacy plan

  2. Past week • dvc3D 1.0 : • Getting it run inside Blender: can create joints, model object(done) • Getting Barrett WAM, hand geometries (done) • Iterative approach : • Write down detailed formulation (DONE) • Running simple scene : done with MOSEK • Getting all possible solver

  3. Past week • Iterative approach: • Linearized friction: problems are bounded convex QPs. There are many solvers • Quadratic friction : problems are quadratically constrained quadratic programming (QCQP), only MOSEK can solve.

  4. Candidacy plan • Date 30th March. • Format : Presentation , do I need a part of thesis available? • Demo : • dvc3D: grasping, box stacking, friction, vehicle, joints • Iterative approach: linearized friction case inside dvc3D

  5. Candidacy plan • Demo (cont.): • Quadratic friction : Matlab demo • Non-convex : simple demo with parallel collision detection

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