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Robotic surgery and novel surgical instrumentation present great potentials towards safer, more accurate and consistent minimally invasive surgery. However, their adoption is dependent to the access to training facilities and extensive…
We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…
The capability to transfer mastered skills to accomplish a range of similar yet novel tasks is crucial for intelligent robots. In this work, we introduce $\textit{Diff-Transfer}$, a novel framework leveraging differentiable physics…
Robot learning requires a considerable amount of high-quality data to realize the promise of generalization. However, large data sets are costly to collect in the real world. Physics simulators can cheaply generate vast data sets with broad…
This paper introduces a Cosserat rod based mathematical model for modeling a self-controllable variable curvature soft continuum robot. This soft continuum robot has a hollow inner channel and was developed with the ability to perform…
Mesh deformation plays a pivotal role in many 3D vision tasks including dynamic simulations, rendering, and reconstruction. However, defining an efficient discrepancy between predicted and target meshes remains an open problem. A prevalent…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
High-fidelity personalized human musculoskeletal models are crucial for simulating realistic behavior of physically coupled human-robot interactive systems and verifying their safety-critical applications in simulations before actual…
Estimating the geometric and volumetric properties of transparent deformable liquids is challenging due to optical complexities and dynamic surface deformations induced by container movements. Autonomous robots performing precise liquid…
Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated…
We introduce DiffPhysCam, a differentiable camera simulator designed to support robotics and embodied AI applications by enabling gradient-based optimization in visual perception pipelines. Generating synthetic images that closely mimic…
Granular materials are of critical interest to many robotic tasks in planetary science, construction, and manufacturing. However, the dynamics of granular materials are complex and often computationally very expensive to simulate. We…
Purpose: Conventional MRI is relying on the assumption of the magnetic field being homogeneous in direction and amplitude. However, with the growing interest in portable, affordable point-of-care MRI systems, these assumptions do not…
We examine a variety of numerical methods that arise when considering dynamical systems in the context of physics-based simulations of deformable objects. Such problems arise in various applications, including animation, robotics, control…
Intraoperative observation of tissue internal structure is often difficult. Hence, real-time soft tissue deformation is essential for the localization of tumor and other internal structures. We propose a method to simulate the internal…
Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we demonstrate, for the first time, closed-loop control of the configuration space variables of a soft robotic arm, composed…
We explore the locomotion of soft robots in granular medium (GM) resulting from the elastic deformation of slender rods. A low-cost, rapidly fabricable robot inspired by the physiological structure of bacteria is presented. It consists of a…
We present a differentiable soft-body physics simulator that can be composed with neural networks as a differentiable layer. In contrast to other differentiable physics approaches that use explicit forward models to define state…
Robotic simulators provide cost-effective and risk-free virtual environments for studying robotic designs, control algorithms, and sensor integrations. They typically host extensive libraries of sensors and actuators that facilitate rapid…
Continuum and soft robots can transform diverse sectors, including healthcare, agriculture, marine, and space, thanks to their potential to adaptively interact with unstructured environments. These robots exhibit complex mechanics that pose…