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This paper proposes a real-time physically-based method for simulating vehicle deformation. Our system synthesizes vehicle deformation characteristics by considering a low-dimensional coupled vehicle body technique. We simulate the motion…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growing robots in particular have shown promise in navigation of…
The system design and algorithm development of mobile 3D printing robots need a realistic simulation. They require a mobile robot simulation platform to interoperate with a physics-based material simulation for handling interactions between…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
Adaptive morphogenetic robots adapt their morphology and control policies to meet changing tasks and environmental conditions. Many such systems leverage soft components, which enable shape morphing but also introduce simulation and control…
Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…
Faced with complex and unstructured construction environments, wheeled and tracked robots exhibit significant limitations in terrain adaptability and flexibility, making it difficult to meet the requirements of autonomous operation.…
The number of tools for dynamics simulation has grown in the last years. It is necessary for the robotics community to have elements to ponder which of the available tools is the best for their research. As a complement to an objective and…
The manual design of soft robots and their controllers is notoriously challenging, but it could be augmented---or, in some cases, entirely replaced---by automated design tools. Machine learning algorithms can automatically propose, test,…
Transcranial magnetic stimulation (TMS) is a noninvasive medical procedure that can modulate brain activity, and it is widely used in neuroscience and neurology research. Compared to manual operators, robots may improve the outcome of TMS…
Plastic deformation In crystalline materials is controlled by the motion and interactions of dislocations [AND 17]. Discrete Dislocation Dynamics (DDD) simulations have now existed for about 25 years to investigate plastic flow at the…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
Symbolic motion planning for robots is the process of specifying and planning robot tasks in a discrete space, then carrying them out in a continuous space in a manner that preserves the discrete-level task specifications. Despite progress…
Soft robotic manipulators are attractive for a range of applications such as medical interventions or industrial inspections in confined environments. A myriad of soft robotic manipulators have been proposed in the literature, but their…
In this paper we present a study of a specific class of vibration-driven robots: the brushbots. In a bottom-up fashion, we start by deriving dynamic models of the brushes and we discuss the conditions under which these models can be…
An external magnetic field can be used to remotely control small-scaled robots, making them promising candidates for diverse biomedical and engineering applications. We showed that our magnetically actuated millirobot is highly agile and…