Related papers: Data-driven Kinematic Modeling in Soft Robots: Sys…
Data-driven modeling is useful for reconstructing nonlinear dynamical systems when the underlying process is unknown or too expensive to compute. Having reliable uncertainty assessment of the forecast enables tools to be deployed to predict…
Accurate models of mechanical system dynamics are often critical for model-based control and reinforcement learning. Fully data-driven dynamics models promise to ease the process of modeling and analysis, but require considerable amounts of…
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…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
Automated driving applications require accurate vehicle specific models to precisely predict and control the motion dynamics. However, modern vehicles have a wide array of digital and mechatronic components that are difficult to model,…
Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence of variations in the operating conditions, the model should…
Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
Soft robots have many advantages over rigid robots thanks to their compliant and passive nature. However, it is generally challenging to model the dynamics of soft robots due to their high spatial dimensionality, making it difficult to use…
Accurate models are essential for design, performance prediction, control, and diagnostics in complex engineering systems. Physics-based models excel during the design phase but often become outdated during system deployment due to changing…
Harmonic drive systems (HDS) are high-precision robotic transmissions featuring compact size and high gear ratios. However, issues like kinematic transmission errors hamper their precision performance. This article focuses on data-driven…
Precise modeling soft robots remains a challenge due to their infinite-dimensional nature governed by partial differential equations. This paper introduces an innovative approach for modeling soft pneumatic actuators, employing a nonlinear…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
This paper tackles the problem of integrated task and kinodynamic motion planning in uncertain environments. We consider a robot with nonlinear dynamics tasked with a Linear Temporal Logic over finite traces ($\ltlf$) specification…
The mechanical complexity of soft robots creates significant challenges for their model-based control. Specifically, linear data-driven models have struggled to control soft robots on complex, spatially extended paths that explore regions…
In spite of recent progress, soft robotics still suffers from a lack of unified modeling framework. Nowadays, the most adopted model for the design and control of soft robots is the piece-wise constant curvature model, with its consolidated…
Soft continuum robots achieve complex deformation through elastic equilibrium, making their reachable motions governed jointly by structural design and actuation-induced mechanics. This work develops a general formulation that integrates…
Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis. However, controlling a…