Related papers: The Soft Compiler: A Web-Based Tool for the Design…
Morphological regeneration is an important feature that highlights the environmental adaptive capacity of biological systems. Lack of this regenerative capacity significantly limits the resilience of machines and the environments they can…
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…
Soft electrothermal actuators are of great interest in diverse application domains for their simplicity, compliance, and ease of control. However, the very nature of thermally induced mechanical actuation sets inherent operation…
It is challenging to perform system identification on soft robots due to their underactuated, high-dimensional dynamics. In this work, we present a data-driven modeling framework, based on geometric mechanics (also known as gauge theory)…
Natural systems integrate the work of many sub-units (cells) toward a large-scale unified goal (morphological and behavioral), which can counteract the effects of unexpected experiences, damage, or simply changes in tasks demands. In this…
Interest in applying Artificial Intelligence (AI) techniques to compiler optimizations is increasing rapidly, but compiler research has a high entry barrier. Unlike in other domains, compiler and AI researchers do not have access to the…
Soft robotics is an emerging technology in which engineers create flexible devices for use in a variety of applications. In order to advance the wide adoption of soft robots, ensuring their trustworthiness is essential; if soft robots are…
Soft robotics leverages deformable materials to develop robots capable of navigating unstructured and dynamic environments. Silicone Voxel-Based Soft Robots (Silibots) are a type of pneumatically actuated soft robots that rely on the…
Compilers are essential for the performance and correct execution of software and hold universal relevance across various scientific disciplines. Despite this, there is a notable lack of tools for testing and evaluating them, especially…
Magnetic Soft Catheters (MSCs) are capable of miniaturization due to the use of an external magnetic field for actuation. Through careful design of the magnetic elements within the MSC and the external magnetic field, the shape along the…
Trans-catheter cardiac intervention has become an increasingly available option for high-risk patients without the complications of open heart surgery. However, current catheterbased platforms suffer from a lack of dexterity, force…
It is desired to equip robots with the capability of interacting with various soft materials as they are ubiquitous in the real world. While physics simulations are one of the predominant methods for data collection and robot training,…
Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…
Soft robotics is attractive for wearable applications that require conformal interactions with the human body. Soft wearable robotic garments hold promise for supplying dynamic compression or massage therapies, such as are applied for…
In the Hydro project we are designing a compiler toolkit that can optimize for the concerns of distributed systems, including scale-up and scale-down, availability, and consistency of outcomes across replicas. This invited paper overviews…
In the last decades, great achievements have been made in the development of computing machines. However, due to exponential growth of transistor density and in particular due to tremendously increasing power consumption, researchers expect…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
Soft robots have the potential to interact with sensitive environments and perform complex tasks effectively. However, motion plans and trajectories for soft manipulators are challenging to calculate due to their deformable nature and…
Soft robots, compared to rigid robots, possess inherent advantages, including higher degrees of freedom, compliance, and enhanced safety, which have contributed to their increasing application across various fields. Among these benefits,…
Lightweight, durable textile-based inflatable soft actuators are widely used in soft robotics, particularly for wearable robots in rehabilitation and in enhancing human performance in demanding jobs. Fabricating these actuators typically…