Related papers: SDRS: Shape-Differentiable Robot Simulator

Fast and safe motion is crucial for the successful deployment of physically interactive robots. Parallel robots (PRs) offer the potential for higher speeds while maintaining the same energy limits due to their low moving masses. However,…

With the development of embodied artificial intelligence, robotic research has increasingly focused on complex tasks. Existing simulation platforms, however, are often limited to idealized environments, simple task scenarios and lack data…

Autonomous driving simulators still lack high-fidelity radar, even though radar is critical for robust perception in adverse weather. A key obstacle is that raw radar point clouds are extremely sparse and stochastic, making it difficult to…

Holistic surgical scene segmentation in robot-assisted surgery (RAS) enables surgical residents to identify various anatomical tissues, articulated tools, and critical structures, such as veins and vessels. Given the firm intraoperative…

We present a method to automatically compute correct gradients with respect to geometric scene parameters in neural SDF renderers. Recent physically-based differentiable rendering techniques for meshes have used edge-sampling to handle…

This paper addresses the task of modeling Deformable Linear Objects (DLOs), such as ropes and cables, during dynamic motion over long time horizons. This task presents significant challenges due to the complex dynamics of DLOs. To address…

Automating object shaping by grinding with a robot is a crucial industrial process that involves removing material with a rotating grinding belt. This process generates removal resistance depending on such process conditions as material…

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…

This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…

Robot design aims at learning to create robots that can be easily controlled and perform tasks efficiently. Previous works on robot design have proven its ability to generate robots for various tasks. However, these works searched the…

Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…

This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…

Robotic manipulation of volumetric elastoplastic deformable materials, from foods such as dough to construction materials like clay, is in its infancy, largely due to the difficulty of modelling and perception in a high-dimensional space.…

Recent developments have created differentiable physics simulators designed for machine learning pipelines that can be accelerated on a GPU. While these can simulate biomechanical models, these opportunities have not been exploited for…

We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…

Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…

We present a method for differentiable simulation of soft articulated bodies. Our work enables the integration of differentiable physical dynamics into gradient-based pipelines. We develop a top-down matrix assembly algorithm within…

This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then…

Haptic feedback to the surgeon during robotic surgery would enable safer and more immersive surgeries but estimating tissue interaction forces at the tips of robotically controlled surgical instruments has proven challenging. Few existing…

We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method…