相关论文: Fast algorithmic self-assembly of simple shapes us…

The term programmable matter refers to matter which has the ability to change its physical properties (shape, density, moduli, conductivity, optical properties, etc.) in a programmable fashion, based upon user input or autonomous sensing.…

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…

Deterministic many-body systems governed by simple interactions can self-organize into macroscopic patterns, and the determinants of long-time behavior are assumed to be encoded in the initial configuration. Here we show that predictability…

Uncertainty of environments has long been a difficult characteristic to handle, when performing real-world robot tasks. This is because the uncertainty produces unexpected observations that cannot be covered by manual scripting. Learning…

The concept of creating all-mechanical soft microrobotic systems has great potential to address outstanding challenges in biomedical applications, and introduce more sustainable and multifunctional products. To this end, magnetic fields and…

This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…

This study presents an internalized morphogenesis model for autonomous systems, such as swarm robotics and micro-nanomachines, that eliminates the need for external spatial computation. Traditional self-organizing models often require…

In this paper the exact analytical solution of the motion of a rigid body with arbitrary mass distribution is derived in the absence of forces or torques. The resulting expressions are cast into a form where the dependence of the motion on…

With the aim of understanding the emergence of collective motion from local interactions of organisms in a "noisy" environment, we study biologically inspired, inherently non-equilibrium models consisting of self-propelled particles. In…

We study a minimal cognitive flocking model, which assumes that the moving entities navigate using exclusively the available instantaneous visual information. The model consists of active particles, with no memory, that interact by a…

Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…

The simulated self-assembly of molecular building blocks into functional complexes is a key area of study in computational biology and materials science. Self-assembly simulations of proteins using physically-motivated potentials for…

Robot motion planning is central to real-world autonomous applications, such as self-driving cars, persistence surveillance, and robotic arm manipulation. One challenge in motion planning is generating control signals for nonlinear systems…

Living organisms intertwine soft (e.g., muscle) and hard (e.g., bones) materials, giving them an intrinsic flexibility and resiliency often lacking in conventional rigid robots. The emerging field of soft robotics seeks to harness these…

A hallmark of biological intelligence and control is combinatorial generalization: animals are able to learn various things, then piece them together in new combinations to produce appropriate outputs for new tasks. Inspired by the ability…

We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into a target receptacle. Due to the chaotic nature of aerodynamic forces, a blowing controller must (i) continually…

The integration of imitation and reinforcement learning has enabled remarkable advances in humanoid whole-body control, facilitating diverse human-like behaviors. However, research on environment-dependent motions remains limited. Existing…

Ensuring safe, real-time motion planning in arbitrary environments requires a robotic manipulator to avoid collisions, obey joint limits, and account for uncertainties in the mass and inertia of objects and the robot itself. This paper…

Many unconventional descent mechanisms are evolved in nature to maximize the dispersion of seeds to increase the population of floral species. The induced autorotation produces lift through asymmetrical weight distribution, increasing the…

When simulating soft robots, both their morphology and their controllers play important roles in task performance. This paper introduces a new method to co-evolve these two components in the same process. We do that by using the hyperNEAT…