Related papers: Real time multibody modeling and simulation of a s…
To achieve highly dynamic jumps of legged robots, it is essential to control the rotational dynamics of the robot. In this paper, we aim to improve the jumping performance by proposing a unified model for planning highly dynamic jumps that…
Bayesian optimization (BO) struggles in high dimensions, where Gaussian-process surrogates demand heavy retraining and brittle assumptions, slowing progress on real engineering and design problems. We introduce GIT-BO, a Gradient-Informed…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
Bayesian optimal experimental design (BOED) is a methodology to identify experiments that are expected to yield informative data. Recent work in cognitive science considered BOED for computational models of human behavior with tractable and…
This paper presents an empirical study of reset-free reinforcement learning (RL) for real-world agile driving, in which a physical 1/10-scale vehicle learns continuously on a slippery indoor track without manual resets. High-speed driving…
The challenges of robotic software testing extend beyond conventional software testing. Valid, realistic and interesting tests need to be generated for multiple programs and hardware running concurrently, deployed into dynamic environments…
A high fidelity fluid-structure interaction simulation may require many days to run, on hundreds of cores. This poses a serious burden, both in terms of time and economic considerations, when repetitions of such simulations may be required…
By combining the agility of legged locomotion with the capabilities of manipulation, loco-manipulation platforms have the potential to perform complex tasks in real-world applications. To this end, state-of-the-art quadrupeds with…
Utilizing robotic systems in the construction industry is gaining popularity due to their build time, precision, and efficiency. In this paper, we introduce a system that allows the coordination of multiple manipulator robots for…
We present efficient reduced basis (RB) methods for the simulation of the coupled problem consisting of a rigid robot hand interacting with soft tissue material which is modeled by the linear elasticity equation and discretized with the…
In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that…
We propose a simple rubber friction law, which can be used, e.g., in models of tire (and vehicle) dynamics. The friction law is tested by comparing numerical results to the full rubber friction theory (B.N.J. Persson, J. Phys.: Condensed…
Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…
Traditional robotic systems require complex implementations that are not always accessible or easy to use for Human-Robot Interaction (HRI) application developers. With the aim of simplifying the implementation of HRI applications, this…
Simulating physical systems is a core component of scientific computing, encompassing a wide range of physical domains and applications. Recently, there has been a surge in data-driven methods to complement traditional numerical simulations…
Control theory deals with the study of controlling dynamical systems. Robots today are growing increasingly complex and moving out of factory floors to real world environment. These robots have to interact with real world environment…
In this work we present two new families of multirate time step adaptivity controllers, that are designed to work with embedded multirate infinitesimal (MRI) time integration methods for adapting time steps when solving problems with…
The wheel-soil interaction has great impact on the dynamics of off-road vehicles in terramechanics applications. The Soil Contact Model (SCM), which anchors an empirical method to characterize the frictional contact between a wheel and…
Scalable surrogate models enable efficient emulation of computer models (or simulators), particularly when dealing with large ensembles of runs. While Gaussian process (GP) models are commonly employed for emulation, they face limitations…
Rigid body dynamics simulators are important tools for the design, analysis and optimization of mechanical systems in a variety of technical and scientific applications. This study examines four different simulation environments (Adams,…