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As the demand for mobile robots continues to increase, social navigation has emerged as a critical task, driving active research into deep reinforcement learning (RL) approaches. However, because pedestrian dynamics and social conventions…
In this work, recently developed state-of-the-art symbolic multibody methods are tested to accurately model a complex railway vehicle. The model is generated using a symbolic implementation of the principle of the virtual power. Creep…
Robotics simulation provides many advantages during the development of an intelligent ground vehicle (IGV) such as testing the software components in varying scenarios without requiring a complete physical robot. This paper discusses a 3D…
Real-time synthesis of physically plausible human interactions remains a critical challenge for immersive VR/AR systems and humanoid robotics. While existing methods demonstrate progress in kinematic motion generation, they often fail to…
Due to the increasing use of virtual avatars, the animation of head-hand interactions has recently gained attention. To this end, we present a novel volumetric and physics-based interaction simulation. In contrast to previous work, our…
Conventional robot programming methods are complex and time-consuming for users. In recent years, alternative approaches such as mixed reality have been explored to address these challenges and optimize robot programming. While the findings…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
This paper proposes a real-time physically-based method for simulating vehicle deformation. Our system synthesizes vehicle deformation characteristics by considering a low-dimensional coupled vehicle body technique. We simulate the motion…
In order to optimize the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products, the numerical model. However, in order to be able to avoid…
The increasing adoption of electric scooters (e-scooters) in urban areas has coincided with a rise in traffic accidents and injuries, largely due to their small wheels, lack of suspension, and sensitivity to uneven surfaces. While deep…
Industrial robots are widely used in various manufacturing environments due to their efficiency in doing repetitive tasks such as assembly or welding. A common problem for these applications is to reach a destination without colliding with…
Differentiable simulators promise to improve sample efficiency in robot learning by providing analytic gradients of the system dynamics. Yet, their application to contact-rich tasks like locomotion is complicated by the inherently…
Surgical robot simulation platform plays a crucial role in enhancing training efficiency and advancing research on robot learning. Much effort have been made by scholars on developing open-sourced surgical robot simulators to facilitate…
We present a robot learning and planning framework that produces an effective tool-use strategy with the least joint efforts, capable of handling objects different from training. Leveraging a Finite Element Method (FEM)-based simulator that…
A new method is proposed to numerically integrate a dynamical system on a manifold such that the trajectory stably remains on the manifold and preserves first integrals of the system. The idea is that given an initial point in the manifold…
The simulation of multi-body systems with frictional contacts is a fundamental tool for many fields, such as robotics, computer graphics, and mechanics. Hard frictional contacts are particularly troublesome to simulate because they make the…
Obtaining dynamics models is essential for robotics to achieve accurate model-based controllers and simulators for planning. The dynamics models are typically obtained using model specification of the manufacturer or simple numerical…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
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…