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Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators…
Modular soft robots combine the strengths of two traditionally separate areas of robotics. As modular robots, they can show robustness to individual failure and reconfigurability; as soft robots, they can deform and undergo large shape…
Soft robots have garnered significant attention due to their promising applications across various domains. A hallmark of these systems is their bilayer structure, where strain mismatch caused by differential expansion between layers…
Algorithms that use derivatives of governing equations have accelerated rigid robot simulations and improved their accuracy, enabling the modeling of complex, real-world capabilities. However, extending these methods to soft and hybrid…
Soft actuators offer a safe, adaptable approach to tasks like gentle grasping and dexterous manipulation. Creating accurate models to control such systems however is challenging due to the complex physics of deformable materials. Accurate…
Precise modeling soft robots remains a challenge due to their infinite-dimensional nature governed by partial differential equations. This paper introduces an innovative approach for modeling soft pneumatic actuators, employing a nonlinear…
Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior…
This paper presents a soft earthworm robot that is capable of both efficient locomotion and obstacle avoidance. The robot is designed to replicate the unique locomotion mechanisms of earthworms, which enable them to move through narrow and…
Complex motions for robots are frequently generated by switching among a collection of individual movement primitives. We use this approach to formulate robot motion plans as sequences of primitives to be executed one after the other. When…
Deep reinforcement learning has emerged as a popular and powerful way to develop locomotion controllers for quadruped robots. Common approaches have largely focused on learning actions directly in joint space, or learning to modify and…
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
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…
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 robotic systems are known for their flexibility and adaptability, but traditional physics-based models struggle to capture their complex, nonlinear behaviors. This study explores a data-driven approach to modeling the…
Nature evolves creatures with a high complexity of morphological and behavioral intelligence, meanwhile computational methods lag in approaching that diversity and efficacy. Co-optimization of artificial creatures' morphology and control in…
We present a scheme for producing tunable active dynamics in a self-propelled robotic device. The robot moves using the differential drive mechanism where two wheels can vary their instantaneous velocities independently. These velocities…
Fast, accurate, and generalizable simulations are a key enabler of modern advances in robot design and control. However, existing simulation frameworks in robotics either model rigid environments and mechanisms only, or if they include…
The simulation-to-reality (sim-to-real) transfer of large-scale hydraulic robots presents a significant challenge in robotics because of the inherent slow control response and complex fluid dynamics. The complex dynamics result from the…
It has been a great challenge to develop robots that are able to perform complex movement patterns with high speed and, simultaneously, high accuracy. Copepods are animals found in freshwater and saltwater habitats that can have extremely…