Related papers: Developing Simulation Models for Soft Robotic Grip…
Physics simulators are widely used in robotics fields, from mechanical design to dynamic simulation, and controller design. This paper presents an open-source MATLAB/Simulink simulator for rigid-body articulated systems, including…
Research on humanoid robotic systems involves a considerable amount of computational resources, not only for the involved design but also for its development and subsequent implementation. For robotic systems to be implemented in real-world…
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…
Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to…
For robot manipulation, both the controller and end-effector design are crucial. Soft grippers are generalizable by deforming to different geometries, but designing such a gripper and finding its grasp pose remains challenging. In this…
This paper presents an open-source MATLAB/Simulink physics simulator for rigid-body articulated systems, including manipulators and floating-base robots. Thanks to MATLAB/Simulink features like MATLAB system classes and Simulink function…
As soft robot design matures, researchers have converged to sophisticated design paradigms to enable the development of more suitable platforms. Two such paradigms are soft-rigid hybrid robots, which utilize rigid structural materials in…
Simulation is an important step in robotics for creating control policies and testing various physical parameters. Soft robotics is a field that presents unique physical challenges for simulating its subjects due to the nonlinearity of…
This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot…
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…
Applying Deep Reinforcement Learning (DRL) to complex tasks in the field of robotics has proven to be very successful in the recent years. However, most of the publications focus either on applying it to a task in simulation or to a task in…
With the explosive growth of rigid-body simulators, policy learning in simulation has become the de facto standard for most rigid morphologies. In contrast, soft robotic simulation frameworks remain scarce and are seldom adopted by the soft…
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to…
This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…
Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing of the state of such robots would also add to their…
As data science applications gain adoption across industries, the tooling landscape matures to facilitate the life cycle of such applications and provide solutions to the challenges involved to boost the productivity of the people involved.…
Closed-loop control remains an open challenge in soft robotics. The nonlinear responses of soft actuators under dynamic loading conditions limit the use of analytic models for soft robot control. Traditional methods of controlling soft…
Software development for Wireless Sensor Networks (WSNs) is challenging due to characteristics of sensor nodes and the environment they are deployed in. Testing software in a real WSN testbed allows users to get reliable test results.…
In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…