Eric Huang

Pittsburgh, PA 15232

Hi my name is Eric!

I’m a Robotics PhD candidate in the Manipulation Lab at Carnegie Mellon University. I like to tackle research problems from alternative angles and push ideas to their computational limits. My research is focused on developing novel techniques using the mathematics behind robotic manipulation and applying these techniques to control and planning for robotic manipulation.

I’m currently residing in Pittsburgh. I have a cat named Krispy who pets my head in the morning (its endearing but clawy). In my spare time, I dance salsa and play tennis.

news

Feb 15, 2021	Defended my thesis!
Sep 22, 2016	Joined the PhD Program at CMU.

selected publications

Efficient Contact Mode Enumeration in 3D

Huang, Eric, Cheng, Xianyi, and Mason, Matthew T.

In Workshop on the Algorithmic Foundations of Robotics, 2020

Abs

In a hybrid dynamical system with multiple rigid bodies, the relative motions of the contact points on two colliding bodies may be classified as separating, sticking (moving together), or sliding. Given a physical contact model, the active contact modes determine the dynamic equations of motion. Analogously, the set of all possible (valid) contact mode assignments enumerates the set of all possible dynamical flows of the hybrid dynamical system at a given state. Naturally, queries about the kinematics or dynamics of the system can be framed as computations over the set of possible contact modes. This paper investigates efficient ways to compute this set.
To that end, we have developed the first efficient 3D contact mode enumeration algorithm. The algorithm is exponential in the degrees of freedom of the system and polynomial in the number of contacts. The exponential term is unavoidable and an example is provided. Prior work in this area has only demonstrated efficient contact mode enumeration in 2D for a single rigid body. We validated our algorithm on peg-in-hole, boxes against walls, and a robot hand grasping an ellipse. Our experimental results indicate real-time contact mode enumeration is possible for small to medium sized systems. Finally, this paper concludes with a discussion of possible related application areas for future work. Ultimately, the goal of this paper is to provide a novel computational tool for researchers to use to simulate, analyze, and control robotic systems that make and break contact with the environment.
Exact Bounds on the Contact Driven Motion of a Sliding Object, With Applications to Robotic Pulling

Huang, Eric, Bhatia, Ankit, Boots, Byron, and Mason, Matthew T.

In Proceedings of Robotics: Science and Systems 2017

Abs

This paper explores the quasi-static motion of a planar slider being pushed or pulled through a single contact point assumed not to slip. The main contribution is to derive a method for computing exact bounds on the object’s motion for classes of pressure distributions where the center of pressure is known but the distribution of support forces is unknown. The second contribution is to show that the exact motion bounds can be used to plan robotic pulling trajectories that guarantee convergence to the final pose. The planner was tested on the task of pulling an acrylic rectangle to random locations within the robot workspace. The generated plans were accurate to 4.00mm +- 3.02mm of the target position and 4.35 degrees +- 3.14 degrees of the target orientation.