Related papers: Feedback Regulated Opto-Mechanical Soft Robotic Ac…
Living organisms have mastered the dynamic control of internal stresses to perform an array of functions, such as change shape and locomote. State-of-the-art attempts to replicate this ability in synthetic materials are rudimentary in…
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…
The ocean vast unexplored regions and diverse soft-bodied marine organisms have spurred interest in bio-inspired underwater soft robotics. Recent advances have enabled new capabilities in underwater movement, sensing, and interaction.…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
Active matter composed of energy-generating microscopic constituents is a promising platform to create autonomous functional materials. However, the very presence of these microscopic energy sources is what makes active matter prone to…
Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
Bio-inspired soft robots have already shown the ability to handle uncertainty and adapt to unstructured environments. However, their availability is partially restricted by time-consuming, costly and highly supervised design-fabrication…
Living organisms interact with their surroundings in a closed-loop fashion, where sensory inputs dictate the initiation and termination of behaviours. Even simple animals are able to develop and execute complex plans, which has not yet been…
The design of intelligent materials often draws parallels with the complex adaptive behaviors of biological organisms, where robust functionality stems from sophisticated hierarchical organization and emergent long-distance coordination…
We present a loop-shaping approach to coherent feedback (CF) control. By formulating the coupling between a quantum system and its environment in terms of the noise power spectrum, our method enables direct manipulation of the effective…
We consider a wide family of optical coherent feedback loops acting on an optomechanical system operating in the linearized regime. We assess the efficacy of such loops in improving key operations, such as cooling, steady-state squeezing…
Recent years have seen a large increase in the number of reported framework materials, including the nowadays-ubiquitous metal-organic frameworks (MOFs). Many of these materials show flexibility and stimuli-responsiveness, i.e. their…
We present a physics-based framework to simulate porous, deformable materials and interactive tools with haptic feedback that can reshape it. In order to allow the material to be moulded non-homogeneously, we propose an algorithm to change…
We present a closed-form optimal feedback control method that ensures safety in an a prior unknown and potentially dynamic environment. This article considers the scenario where local perception data (e.g., LiDAR) is obtained periodically,…
Measurement-based control, utilizing an active feedback loop, is a standard tool in technology. Feedback control is also emerging as a useful and fundamental tool in quantum technology and in related fundamental studies, where it can be…
Until recently, the concept of soft robot safety was an informal notion, often attributed solely to the fact that soft robots are less likely to damage their operating environment than rigid robots. As the field moves toward feedback…
Quantum tracking control encodes the desired dynamics into a tailored driving field; here, we let the system find its own way there. We propose a real-time feedback control framework in which a proportional controller continuously corrects…
Active soft bodies can affect their shape through an internal actuation mechanism that induces a deformation. Similar to recent work, this paper utilizes a differentiable, quasi-static, and physics-based simulation layer to optimize for…