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Sponsored Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt

Author

Cagdas D. Onal

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2 papers indexed here

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Preprint Sep 2026

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

Recovering physical properties of unknown objects through non-prehensile interaction is challenging because no single manipulation primitive reveals all relevant parameters. Planar pushing couples mass and friction, while conventional tipping cannot recover friction and may fail entirely when low-friction or curved-bas...

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

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