Author

Cagdas D. Onal

2 papers indexed here

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Preprint Sep 2026

Multi-Modal Non-Prehensile Estimation of Physical Parameters via Press-and-Pull Tipping

A multi-modal estimation framework that combines a sliding interaction with a press-and-pull tipping primitive to recover object mass, center of mass height, and surface friction and demonstrates that complementary non-prehensile interactions can recover a compact set of physical parameters without grasping, a prior ob...

Steven M. Hyland, Xiao Jing, Cagdas D. Onal · 0 citations

Preprint Sep 2026

Before the Tipping Point: Force-Guided Active Perception for Shape-Agnostic Estimation of 3D Centers of Mass

A force-based method that estimates CoM height and mass from a single sub-critical tipping experiment by a robot manipulator, which informs and enables reliable non-prehensile manipulation and robotic grasping of challenging objects that were previously infeasible.

Steven M. Hyland, Xiao Jing, Cagdas D. Onal · 1 citation