Related papers: Simple Models, Real Swimming: Digital Twins for Te…
This paper presents a system for enabling real-time synthesis of whole-body locomotion and manipulation policies for real-world legged robots. Motivated by recent advancements in robot simulation, we leverage the efficient parallelization…
Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep water scenarios. This work deals with equipping soft arms with…
Scombrid fishes and tuna are efficient swimmers capable of maximizing performance to escape predators and save energy during long journeys. A key aspect in achieving these goals is the flexibility of the tail, which the fish optimizes…
Tensegrity robots are composed of rigid struts and flexible cables. They constitute an emerging class of hybrid rigid-soft robotic systems and are promising systems for a wide array of applications, ranging from locomotion to assembly. They…
In this paper, we present an underactuated biomimetic underwater robot that is suitable for ecosystem monitoring in both marine and freshwater environments. We present an updated mechanical design for a fish-like robot and propose minimal…
In this paper, we present a number of robust methodologies for an underwater robot to visually detect, follow, and interact with a diver for collaborative task execution. We design and develop two autonomous diver-following algorithms, the…
Continuum robots enable dexterous manipulation in constrained environments, but require accurate and efficient models for real-time manipulation and control. Traditional physics-based models can be computationally expensive and may suffer…
The evolution and growing automation of collaborative robots introduce more complexity and unpredictability to systems, highlighting the crucial need for robot's adaptability and flexibility to address the increasing complexities of their…
Fish have endured millions of years of evolution, and their distinct rigid-flexible body structures offer inspiration for overcoming challenges in underwater robotics, such as limited mobility, high energy consumption, and adaptability.…
Coastal marine ecosystems face mounting pressures from anthropogenic activities and climate change, necessitating advanced monitoring and modeling approaches for effective management. This paper pioneers the development of a Marine Digital…
New free-swimming experiments and simulations are conducted on a pair of three-dimensional, bio-robotic swimmers composed of a body and tail section based on Yellowfin tuna, Thunnus albacares. It is discovered that the pair converges…
Autonomous Underwater Vehicles (AUVs) require reliable six-degree-of-freedom (6-DOF) position control to operate effectively in complex and dynamic marine environments. Traditional controllers are effective under nominal conditions but…
The behavior of living systems is based on the experience they gained through their interactions with the environment [1]. This experience is stored in the complex biochemical networks of cells and organisms to provide a relationship…
High-fidelity simulation is essential for robotics research, enabling safe and efficient testing of perception, control, and navigation algorithms. However, achieving both photorealistic rendering and accurate physics modeling remains a…
Soft robots have gained increased popularity in recent years due to their adaptability and compliance. In this paper, we use a digital twin model of cable-driven soft robots to learn control parameters in simulation. In doing so, we take…
Developing fast and accurate surrogates for physics-based coastal and ocean models is an urgent need due to the coastal flood risk under accelerating sea level rise, and the computational expense of deterministic numerical models. For this…
Drag-based swimming with rowing appendages, fins, and webbed feet is a widely adapted locomotion form in aquatic animals. To develop effective underwater and swimming vehicles, a wide range of bioinspired drag-based paddles have been…
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…
Learning effective reinforcement learning (RL) policies to solve real-world complex tasks can be quite challenging without a high-fidelity simulation environment. In most cases, we are only given imperfect simulators with simplified…
It is well known that tuna fish in the ocean can dynamically morph their median fins to achieve optimal hydrodynamic performance, e.g. linear acceleration and maneuverability. In this study, based on the previous studies about the median…