Related papers: Soft Robots Modeling: a Structured Overview
Soft robots have gained significant attention due to their flexibility and safety, particularly in human-centric applications. The co-design of structure and controller in soft robotics has presented a longstanding challenge owing to the…
As robot make their way out of factories into human environments, outer space, and beyond, they require the skill to manipulate their environment in multifarious, unforeseeable circumstances. With this regard, pushing is an essential motion…
Research on the co-optimization of soft robotic design and control requires rapid means for real-world validation. Existing creation pipelines do not allow for the swift prototyping of soft robots to quickly test various design…
Despite recent advances in robust locomotion, bipedal robots operating in the real world remain at risk of falling. While most research focuses on preventing such events, we instead concentrate on the phenomenon of falling itself.…
As collaborative robots enter industrial shop floors, logistics, and manufacturing, rapid and flexible evaluation of human-machine interaction has become more important. The availability of consumer headsets for virtual and augmented…
The rapid development of social robots has challenged robotics and cognitive sciences to understand humans' perception of the appearance of robots. In this study, robot-associated words spontaneously generated by humans were analyzed to…
Recent developments in foundation models, like Large Language Models (LLMs) and Vision-Language Models (VLMs), trained on extensive data, facilitate flexible application across different tasks and modalities. Their impact spans various…
Transformer architectures have revolutionized machine learning across a wide range of domains, from natural language processing to scientific computing. However, their growing deployment in high-stakes applications, such as computer vision,…
Robot accidents are inevitable. Although rare, they have been happening since assembly-line robots were first introduced in the 1960s. But a new generation of social robots are now becoming commonplace. Often with sophisticated embedded…
Understanding infant development is one of the greatest scientific challenges of contemporary science. A large source of difficulty comes from the fact that the development of skills in infants results from the interactions of multiple…
Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this…
Soft robots have many advantages over rigid robots thanks to their compliant and passive nature. However, it is generally challenging to model the dynamics of soft robots due to their high spatial dimensionality, making it difficult to use…
Continuum soft robots, composed of flexible materials, exhibit theoretically infinite degrees of freedom, enabling notable adaptability in unstructured environments. Cosserat Rod Theory has emerged as a prominent framework for modeling…
Robot learning is at an inflection point, driven by rapid advancements in machine learning and the growing availability of large-scale robotics data. This shift from classical, model-based methods to data-driven, learning-based paradigms is…
Advances in deep learning over the last decade have led to a flurry of research in the application of deep artificial neural networks to robotic systems, with at least thirty papers published on the subject between 2014 and the present.…
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…
Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…
This thesis investigates how foundation models can be systematically leveraged to enhance robotic capabilities, enabling more effective localization, interaction, and manipulation in unstructured environments. The work is structured around…