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The rapid design and fabrication of soft robotic matter is of growing interest for shape morphing, actuation, and wearable devices. Here, we report a facile fabrication method for creating soft robotic materials with embedded pneumatics…
Robotic harvesting has the potential to positively impact agricultural productivity, reduce costs, improve food quality, enhance sustainability, and to address labor shortage. In the rapidly advancing field of agricultural robotics, the…
Creating accurate, physical simulations directly from real-world robot motion holds great value for safe, scalable, and affordable robot learning, yet remains exceptionally challenging. Real robot data suffers from occlusions, noisy camera…
Voxel-based soft robots (VSRs) are aggregations of soft blocks whose design is amenable to optimization. We here present a software, 2D-VSR-Sim, for facilitating research concerning the optimization of VSRs body and brain. The software,…
With the rapid rise of 3D-printing as a competitive mass manufacturing method, manual "decaking" - i.e. removing the residual powder that sticks to a 3D-printed part - has become a significant bottleneck. Here, we introduce, for the first…
We present an algorithm that allows a user within a virtual environment to perform real-time unconstrained cuts or consecutive tears, i.e., progressive, continuous fractures on a deformable rigged and soft-body mesh model in…
Realistic simulation is critical for applications ranging from robotics to animation. Learned simulators have emerged as a possibility to capture real world physics directly from video data, but very often require privileged information…
Real2Sim2Real plays a critical role in robotic arm control and reinforcement learning, yet bridging this gap remains a significant challenge due to the complex physical properties of robots and the objects they manipulate. Existing methods…
Robotic manipulation of volumetric elastoplastic deformable materials, from foods such as dough to construction materials like clay, is in its infancy, largely due to the difficulty of modelling and perception in a high-dimensional space.…
Exploring and modeling heterogeneous elastic surfaces requires multiple interactions with the environment and a complex selection of physical material parameters. The most common approaches model deformable properties from sets of offline…
We present a novel formulation for mesh-free, reduced-order simulation of deformable hyperelastic objects. Existing work in reduced-order elastodynamic simulation represents the input geometry by either meshes, which can be difficult to…
Systems composed of soft matter (e.g., liquids, polymers, foams, gels, colloids, and most biological materials) are ubiquitous in science and engineering, but molecular simulations of such systems pose particular computational challenges,…
Differentiable physics simulation provides an avenue to tackle previously intractable challenges through gradient-based optimization, thereby greatly improving the efficiency of solving robotics-related problems. To apply differentiable…
Simulators are an important tool in robotics that is used to develop robot software and generate synthetic data for machine learning algorithms. Faster simulation can result in better software validation and larger amounts of data. Previous…
The goal of this paper is to enable 3D printed lightweight composite foams by blending hollow glass micro balloons (GMB) with high density polyethylene (HDPE). To that end, lightweight feedstock for printing syntactic foam composites is…
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…
Real objects that inhabit the physical world follow physical laws and thus behave plausibly during interaction with other physical objects. However, current methods that perform 3D reconstructions of real-world scenes from multi-view 2D…
The compliance of soft robotic arms renders the development of accurate kinematic & dynamical models especially challenging. The most widely used model in soft robotic kinematics assumes Piecewise Constant Curvature (PCC). However, PCC…
A realistic simulation environment is an essential tool in every roboticist's toolkit, with uses ranging from planning and control to training policies with reinforcement learning. Despite the centrality of simulation in modern robotics,…