Related papers: Category theory as a foundation for soft robotics
Cosserat rod theory is the popular approach to modeling ferromagnetic soft robots as 1-Dimensional (1D) slender structures in most applications, such as biomedical. However, recent soft robots designed for locomotion and manipulation often…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
This paper explores the interplay between category theory, topology, and the algebraic theory of finite groups. Our analysis unfolds in three stages. First, we establish the foundational universe of our objects: the complete and cocomplete…
There exists a dispute in philosophy, going back at least to Leibniz, whether is it possible to view the world as a network of relations and relations between relations with the role of objects, between which these relations hold, entirely…
This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…
We posit that embodied artificial intelligence is not only a computational, but also a materials problem. While the importance of material and structural properties in the control loop are well understood, materials can take an active role…
Soft robots have the potential to interact with sensitive environments and perform complex tasks effectively. However, motion plans and trajectories for soft manipulators are challenging to calculate due to their deformable nature and…
Soft condensed matter physics is the study of materials, such as fluids, liquid crystals, polymers, colloids, and emulsions, that are ``soft" to the touch. This article will review some properties, such as the dominance of entropy, that are…
Modeling of human mobility is critical to address questions in urban planning and transportation, as well as global challenges in sustainability, public health, and economic development. However, our understanding and ability to model…
We define "robotic contact juggling" to be the purposeful control of the motion of a three-dimensional smooth object as it rolls freely on a motion-controlled robot manipulator, or "hand." While specific examples of robotic contact juggling…
Soft robots have demonstrated superior flexibility and functionality than conventional rigid robots. These versatile devices can respond to a wide range of external stimuli (including light, magnetic field, heat, electric field, etc.), and…
This paper presents a soft earthworm robot that is capable of both efficient locomotion and obstacle avoidance. The robot is designed to replicate the unique locomotion mechanisms of earthworms, which enable them to move through narrow and…
Providing mobile robots with the ability to manipulate objects has, despite decades of research, remained a challenging problem. The problem is approachable in constrained environments where there is ample prior knowledge of the environment…
A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable…
Nowadays service robots are leaving the structured and completely known environments and entering human-centric settings. For these robots, object perception and grasping are two challenging tasks due to the high demand for accurate and…
Continuum soft robots are nonlinear mechanical systems with theoretically infinite degrees of freedom (DoFs) that exhibit complex behaviors. Achieving motor intelligence under dynamic conditions necessitates the development of…
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
In this paper, we develop the theory of constrained motion spaces of robotic arms. We compute their homology groups in two cases: when the constraint is a horizontal line and when it is a smooth curve whose motion space is a smooth…