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Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…
Certain wheeled mobile robots e.g., electric wheelchairs, can operate through indirect joystick controls from users. Correct steering angle becomes essential when the user should determine the vehicle direction and velocity, in particular…
Wheeled robots have gained significant attention due to their wide range of applications in manufacturing, logistics, and service industries. However, due to the difficulty of building a highly accurate dynamics model for wheeled robots,…
The incorporation of appropriate inductive bias plays a critical role in learning dynamics from data. A growing body of work has been exploring ways to enforce energy conservation in the learned dynamics by encoding Lagrangian or…
Soft robotics has emerged as a transformative technology in Search and Rescue (SAR) operations, addressing challenges in navigating complex, hazardous environments that often limit traditional rigid robots. This paper critically examines…
Musculoskeletal robots provide superior advantages in flexibility and dexterity, positioning them as a promising frontier towards embodied intelligence. However, current research is largely confined to relative simple tasks, restricting the…
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…
The Extended Discrete Element Method (XDEM) is an innovative numerical simulation technique that extends the dynamics of granular materials known as Discrete Element Method (DEM) by additional properties such as the thermodynamic state,…
Discretization of general relativity is a promising route towards quantum gravity. Discrete geometries have a finite number of degrees of freedom and can mimic aspects of quantum geometry. However, selection of the correct discrete freedoms…
Automating the manipulation of granular materials poses significant challenges due to complex contact dynamics, unpredictable material properties, and intricate system states. Existing approaches often fail to achieve efficiency and…
Soft object manipulation poses significant challenges for robots, requiring effective techniques for state representation and manipulation policy learning. State representation involves capturing the dynamic changes in the environment,…
In engineering applications snow often undergoes large and fast deformations. During these deformations the snow transforms from a sintered porous material into a granular material. In order to capture the fundamental mechanical behavior of…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
We propose a finite element method for simulating one-dimensional solid models moving and experiencing large deformations while immersed in generalized Newtonian fluids. The method is oriented towards applications involving microscopic…
Differentiable rendering has gained significant attention in the field of robotics, with differentiable robot rendering emerging as an effective paradigm for learning robotic actions from image-space supervision. However, the lack of…
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…
Development of algorithms and growth of computational resources in the past decades have enabled simulations of sediment transport processes with unprecedented fidelities. The Computational Fluid Dynamics--Discrete Element Method (CFD--DEM)…
Dynamic hand gestures play a pivotal role in assistive human-robot interaction (HRI), facilitating intuitive, non-verbal communication, particularly for individuals with mobility constraints or those operating robots remotely. Current…
Elastic ribbons, slender structures whose length ($L$), width ($W$), and thickness ($b$) satisfy $L \gg W \gg b$, exhibit mechanical behaviors intermediate between one-dimensional rods ($L \gg W, b$) and two-dimensional plates ($L, W \gg…
We present a hybrid Eulerian-Lagrangian method for the direct simulation of three-dimensional, heterogeneous structures made of soft fibers and immersed in incompressible viscous fluids. Fiber-based organization of matter is pervasive in…