Related papers: Self-Sustained And Coordinated Rhythmic Deformatio…
Robotic locomotion is often approached with the goal of maximizing robustness and reactivity by increasing motion control frequency. We challenge this intuitive notion by demonstrating robust and dynamic locomotion with a learned motion…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
This paper presents a data-driven strategy to streamline the deployment of model-based controllers in legged robotic hardware platforms. Our approach leverages a model-free safe learning algorithm to automate the tuning of control gains,…
This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by computing low-variance first-order gradients using robot…
Spring Loaded Inverted Pendulum (SLIP) model has a long history in describing running behavior in animals and humans as well as has been used as a design basis for robots capable of dynamic locomotion. Anchoring the SLIP for lossy physical…
Soft robots require directional control to navigate complex terrains. However, achieving such control often requires multiple actuators, which increases mechanical complexity, complicates control systems, and raises energy consumption.…
Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse locomotion behaviors in conventional…
Miniature-legged robots are constrained by their onboard computation and control, thus motivating the need for simple, first-principles-based geometric models that connect \emph{periodic actuation or gaits} (a universal robot control…
The subject of simulating internal organs is a valuable and important topic of research to multiple fields from medical analysis to education and training. This paper presents a solution that utilizes a graphical technique in combination…
Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is…
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…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
We examine the hypothesis, that short-term synaptic plasticity (STSP) may generate self-organized motor patterns. We simulated sphere-shaped autonomous robots, within the LPZRobots simulation package, containing three weights moving along…
In this work, a simulation model for the optimal control of dielectric elastomer actuated flexible multibody dynamics systems is presented. The Dielectric Elastomer Actuator (DEA) behaves like a flexible artificial muscles in soft robotics.…
Soft robotic snakes (SRSs) have a unique combination of continuous and compliant properties that allow them to imitate the complex movements of biological snakes. Despite the previous attempts to develop SRSs, many have been limited to…
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…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…