Design of Part Feeding and Assembly Processes with Dynamics

Part able to pass through the device with center of gravity starting on the left	Part able to pass through the device with center of gravity starting on the right

Haptic and visual simulation

Laparoscopic surgical training simulation	Haptic and visual simulation and rendering

Simulation and Control of the Whole Arm Manipulation

RBM has unique solution	RBM has no solution

Spin Reversal of the Wobblestone

Wobblestone	Simulation

Impact and contact (sliding, rolling)

Slippery Surface Rough Surface

Concurrent Contacts and Impacts:

• Bouncing Balls
• Cooperative Manipulation