Related papers: Computational Design of Skinned Quad-Robots
The design (shape) of a robot is usually decided before the control is implemented. This might limit how well the design is adapted to a task, as the suitability of the design is given by how well the robot performs in the task, which…
Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…
In this paper, we study integrated estimation and control of soft robots. A significant challenge in deploying closed loop controllers is reliable proprioception via integrated sensing in soft robots. Despite the considerable advances…
Softening and onboarding computers and controllers is one of the final frontiers in soft robotics towards their robustness and intelligence for everyday use. In this regard, embodying soft and physical computing presents exciting potential.…
Since loose-fitting clothing contains dynamic modes that have proven to be difficult to predict via neural networks, we first illustrate how to coarsely approximate these modes with a real-time numerical algorithm specifically designed to…
Almost all robotic systems in use have hard shells, which is limiting in many ways their full potential of physical interaction with humans or their surrounding environment. Robots with soft-shell covers offer an alternative morphology…
As soft robot design matures, researchers have converged to sophisticated design paradigms to enable the development of more suitable platforms. Two such paradigms are soft-rigid hybrid robots, which utilize rigid structural materials in…
We automate soft robotic hand design iteration by co-optimizing design and control policy for dexterous manipulation skills in simulation. Our design iteration pipeline combines genetic algorithms and policy transfer to learn control…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
A computer model can be used for predicting an output only after specifying the values of some unknown physical constants known as calibration parameters. The unknown calibration parameters can be estimated from real data by conducting…
We present parametric trajectory optimization, a method for simultaneously computing physical parameters, actuation requirements, and robot motions for more efficient robot designs. In this scheme, robot dimensions, masses, and other…
In this study, we present a novel method for enhancing the computational efficiency of whole-body control for humanoid robots, a challenge accentuated by their high degrees of freedom. The reduced-dimension rigid body dynamics of a floating…
Developing whole-body tactile skins for robots remains a challenging task, as existing solutions often prioritize modular, one-size-fits-all designs, which, while versatile, fail to account for the robot's specific shape and the unique…
Advanced machine learning algorithms require platforms that are extremely robust and equipped with rich sensory feedback to handle extensive trial-and-error learning without relying on strong inductive biases. Traditional robotic designs,…
This study focuses on the locomotion capability improvement in a tendon-driven soft quadruped robot through an online adaptive learning approach. Leveraging the inverse kinematics model of the soft quadruped robot, we employ a central…
Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a large impact on several applications including scientific…
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary…
This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be decomposed into simpler kinematic and centroidal dynamic…