相关论文: Fast algorithmic self-assembly of simple shapes us…
For the robots to achieve a desired behavior, we can program them directly, train them, or give them an innate driver that makes the robots themselves desire the targeted behavior. With the minimal surprise approach, we implant in our…
The search for neural architecture is producing many of the most exciting results in artificial intelligence. It has increasingly become apparent that task-specific neural architecture plays a crucial role for effectively solving problems.…
Formation control of multiple groups of agents finds application in large area navigation by generating different geometric patterns and shapes, and also in carrying large objects. In this paper, Centroid Based Transformation (CBT)…
Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion…
The paper presents the electronic design and motion planning of a robot based on decision making regarding its straight motion and precise turn using Artificial Neural Network (ANN). The ANN helps in learning of robot so that it performs…
The rapid design and fabrication of soft robotic matter is of growing interest for shape morphing, actuation, and wearable devices. Here, we report a facile fabrication method for creating soft robotic materials with embedded pneumatics…
Swarm robots, inspired by the emergence of animal herds, are robots that assemble a large number of modules and self-organize themselves to form specific morphologies and exhibit specific functions. These modular robots perform relatively…
We create mechanical metamaterials whose response to uniaxial compression can be programmed by lateral confinement, allowing monotonic, non-monotonic and hysteretic behavior. These functionalities arise from a broken rotational symmetry…
Programming physical intelligence into mechanisms holds great promise for machines that can accomplish tasks such as navigation of unstructured environments while utilizing a minimal amount of computational resources and electronic…
We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…
We investigate dynamical many-body systems capable of universal computation, which leads to their properties being unpredictable unless the dynamics is simulated from the beginning to the end. Unpredictable behavior can be quantitatively…
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…
We propose a novel algorithm for forming arbitrarily shaped assemblies using decentralized robots. By relying on local interactions, the algorithm ensures there are no unreachable states or gaps in the assembly, which are global properties.…
Cells control fluid flows with a spatial and temporal precision that far exceeds the capabilities of current microfluidic technologies. Cells achieve this superior spatio-temporal control by harnessing dynamic networks of cytoskeleton and…
The miniaturization of machines towards the micron and nanoscales requires the development of joint-like elements that enable and constrain motion. We present a facile method to create colloidal joints, that is, anisotropic colloidal…
Every robot built to date was predesigned by an external process, prior to deployment. Here we show a robot that actively participates in its own design during its lifetime. Starting from a randomly assembled body, and using only…
Magnetic-responsive composites that consist of soft matrix embedded with hard-magnetic particles have recently been demonstrated as robust soft active materials for fast-transforming actuation. However, the deformation of the functional…
Self-consistent N-body simulations are efficient tools to study galactic dynamics. However, using them to study individual trajectories (or ensembles) in detail can be challenging. Such orbital studies are important to shed light on global…
We use numerical simulations to show how noninteracting hard particles binding to a deformable elastic shell may self-assemble into a variety of linear patterns. This is a result of the nontrivial elastic response to deformations of shells.…
Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…