Related papers: Continuum Robot Modeling with Action Conditioned F…
Mimicking the graceful motion of swimming animals remains a core challenge in soft robotics due to the complexity of fluid-structure interaction and the difficulty of controlling soft, biomimetic bodies. Existing modeling approaches are…
Automated driving systems require monitoring mechanisms to ensure safe operation, especially if system components degrade or fail. Their runtime self-representation plays a key role as it provides a-priori knowledge about the system's…
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…
State estimation techniques for continuum robots (CRs) typically involve using computationally complex dynamic models, simplistic shape approximations, or are limited to quasi-static methods. These limitations can be sensitive to unmodelled…
SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is…
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…
An underlying structure in several sampling-based methods for continuous multi-robot motion planning (MRMP) is the tensor roadmap (TR), which emerges from combining multiple PRM graphs constructed for the individual robots via a tensor…
The physical coupling between robots has the potential to improve the capabilities of multi-robot systems in challenging manufacturing processes. However, the path tracking accuracy of physically coupled robots is not studied adequately,…
The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
The robotic manipulation of Deformable Linear Objects (DLOs) is a vital and challenging task that is important in many practical applications. Classical model-based approaches to this problem require an accurate model to capture how robot…
This paper introduces DynaFlow, a novel framework that embeds a differentiable simulator directly into a flow matching model. By generating trajectories in the action space and mapping them to dynamically feasible state trajectories via the…
Follow-the-leader (FTL) motion exploits the unique morphology of continuum robots (CRs) to navigate confined spaces by having the body retrace the path of the tip. While extensively studied, existing FTL methods typically assume a fixed…
The design and optimization of cryogenic propellant storage tanks for NASA's future space missions require fast and accurate predictions of long-term fluid behaviors. Computational fluid dynamics (CFD) techniques are high-fidelity but…
Pneumatic soft robots present many advantages in manipulation tasks. Notably, their inherent compliance makes them safe and reliable in unstructured and fragile environments. However, full-body shape sensing for pneumatic soft robots is…
Video diffusion models provide powerful real-world simulators for embodied AI but remain limited in controllability for robotic manipulation. Recent works on trajectory-conditioned video generation address this gap but often rely on 2D…
Recently, a new concept for continuum robots capable of producing macro-scale and micro-scale motion has been presented. These robots achieve their multi-scale motion capabilities by coupling direct-actuation of push-pull back-bones for…
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…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
A reliable estimation of 3D parameters is a must for several applications like planning and control. Included in the latter is the Image-Based Visual Servoing, whose control scheme depends directly on 3D parameters e.g. depth of points, and…