Related papers: Embodying Physical Computing into Soft Robots
Adaptive morphogenetic robots adapt their morphology and control policies to meet changing tasks and environmental conditions. Many such systems leverage soft components, which enable shape morphing but also introduce simulation and control…
Soft robots promise inherent safety via their material compliance for seamless interactions with humans or delicate environments. Yet, their development is challenging because it requires integrating materials, geometry, actuation, and…
Soft robots are typically approximated as low-dimensional systems, especially when learning-based methods are used. This leads to models that are limited in their capability to predict the large number of deformation modes and interactions…
Soft robotics has emerged as a promising technology that holds great potential for various application areas. This is due to soft materials unique properties, including flexibility, safety, and shock absorption, among others. Despite many…
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…
Approximate computing is a computation domain which can be used to trade time and energy with quality and therefore is useful in embedded systems. Energy is the prime resource in battery-driven embedded systems, like robots. Approximate…
Integrating Brain-Machine Interfaces into non-clinical applications like robot motion control remains difficult - despite remarkable advancements in clinical settings. Specifically, EEG-based motor imagery systems are still error-prone,…
Robotic technologies have been an indispensable part for improving human productivity since they have been helping humans in completing diverse, complex, and intensive tasks in a fast yet accurate and efficient way. Therefore, robotic…
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
Recent studies have demonstrated the immense potential of exploiting muscle actuator morphology for natural and robust movement -- in simulation. A validation on real robotic hardware is yet missing. In this study, we emulate muscle…
The one-to-one mapping of control inputs to actuator outputs results in elaborate routing architectures that limit how complex fluidic soft robot behaviours can currently become. Embodied intelligence can be used as a tool to counteract…
Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing…
Soft robotics is a modern robotic paradigm for performing dexterous interactions with the surroundings via morphological flexibility. The desire for autonomous operation requires soft robots to be capable of proprioception and makes it…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
Tailoring the design of robot bodies for control purposes is implicitly performed by engineers, however, a methodology or set of tools is largely absent and optimization of morphology (shape, material properties of robot bodies, etc.) is…
Soft robots have gained significant attention due to their flexibility and safety, particularly in human-centric applications. The co-design of structure and controller in soft robotics has presented a longstanding challenge owing to the…
In the context of embodied artificial intelligence, morphological computation refers to processes which are conducted by the body (and environment) that otherwise would have to be performed by the brain. Exploiting environmental and…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
An accurate, physically-based, and differentiable model of soft robots can unlock downstream applications in optimal control. The Finite Element Method (FEM) is an expressive approach for modeling highly deformable structures such as…