Related papers: A General Lie-Group Framework for Continuum Soft R…
Physical intelligence holds immense promise for advancing embodied intelligence, enabling robots to acquire complex behaviors from demonstrations. However, achieving generalization and transfer across diverse robotic platforms and…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
In this paper, we present a novel synergistic framework for learning shape estimation and a shape-aware whole-body control policy for tendon-driven continuum robots. Our approach leverages the interaction between two Augmented Neural…
This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their flexibility and adaptability, making them suitable for…
The main result of this paper is a convexity theorem for momentum mappings of certain hamiltonian actions of noncompact semisimple Lie groups. The image is required to fall within a certain open subset D of the (dual of the) Lie algebra,…
Invariance and equivariance to geometrical transformations have proven to be very useful inductive biases when training (convolutional) neural network models, especially in the low-data regime. Much work has focused on the case where the…
In this paper, we propose a learning framework for synthesizing a robust controller for dynamical systems evolving on a Lie group. A robust control contraction metric (RCCM) and a neural feedback controller are jointly trained to enforce…
This paper presents a total Lagrangian mixed Petrov-Galerkin finite element formulation that provides a computationally efficient approach for analyzing Cosserat rods that is free of singularities and locking. To achieve a singularity-free…
Soft machines typically exhibit slow locomotion speed and low manipulation strength because of intrinsic limitations of soft materials. Here, we present a generic design principle that harnesses mechanical instability for a variety of…
Recent advances in deep learning and Transformers have driven major breakthroughs in robotics by employing techniques such as imitation learning, reinforcement learning, and LLM-based multimodal perception and decision-making. However,…
A generalized Euler parameterization of a compact Lie group is a way for parameterizing the group starting from a maximal Lie subgroup, which allows a simple characterization of the range of parameters. In the present paper we consider the…
In this paper, we present an intrinsic derivation of the equations ruling the dynamics motion of a snake robot dynamics. Based on a Cosserat beam model, we first show that the extended configuration space is a Lie group. Endowing it with an…
Continuum robots with variable compliance have gained significant attention due to their adaptability in unstructured environments. Among various stiffness modulation techniques, layer jamming (LJ) provides a simple yet effective approach…
The purpose of this short notice is to present an elementary summary of a few recent results obtained through the application of the formal theory of systems of partial differential equations and Lie pseudo groups to engineering (elasticity…
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…
In this article, we propose the Coopetititve Soft Gating Ensemble or CSGE for general machine learning tasks and interwoven systems. The goal of machine learning is to create models that generalize well for unknown datasets. Often, however,…
Soft object manipulation has recently gained popularity within the robotics community due to its potential applications in many economically important areas. Although great progress has been recently achieved in these types of tasks, most…
We present a geometric formulation of the mechanics of a field that takes values in a homogeneous space \mathbb{X} on which a Lie group G acts transitively. This generalises the mechanics of Cosserat media where \mathbb{X} is the frame…
Soft set theory provides a direct framework for parameterized decision modeling by assigning to each attribute (parameter) a subset of a given universe, thereby representing uncertainty in a structured way [1, 2]. Over the past decades, the…
Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…