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Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
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…
The design of gaits for robot locomotion can be a daunting process which requires significant expert knowledge and engineering. This process is even more challenging for robots that do not have an accurate physical model, such as compliant…
We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins.Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody…
Efficient robot dynamics simulation is a fundamental problem key for robot control, identification, design and analysis. This research statement explores my current progress in this field and future research directions.
The automatic design of robots has existed for 30 years but has been constricted by serial non-differentiable design evaluations, premature convergence to simple bodies or clumsy behaviors, and a lack of sim2real transfer to physical…
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 describes the development and validation of a novel microgravity experimental platform that is mainly applied to small robots such as modular self-reconfigurable robots. This platform mainly consists of an air supply system, a…
Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated…
This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…
Soft robotic snakes made of compliant materials can continuously deform their bodies and, therefore, mimic the biological snakes' flexible and agile locomotion gaits better than their rigid-bodied counterparts. Without wheel support, to…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
This paper presents a new method for modelling the dynamic behaviour of developable ribbons, two dimensional strips with much smaller width than length. Instead of approximating such surface with a general triangle mesh, we characterize it…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
Accurate and efficient simulation tools are essential in robotics, enabling the visualization of system dynamics and the validation of control laws before committing resources to physical experimentation. Developing physically accurate…
Discrete simulation methods are efficient tools to investigate the complex behaviors of complex fluids made of either dry granular materials or dilute suspensions. By contrast, materials made of soft and/or concentrated units (emulsions,…
In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and actuation methods (e.g., pneumatic, cable-driven, servomotor).…
Obtaining dynamic models of continuum soft robots is central to the analysis and control of soft robots, and researchers have devoted much attention to the challenge of proposing both data-driven and first-principle solutions. Both avenues…
Designing soft robots poses considerable challenges: automated design approaches may be particularly appealing in this field, as they promise to optimize complex multi-material machines with very little or no human intervention.…