相关论文: Scale invariant robot behavior with fractals
Soft robots have the ability to adapt to their environment, which makes them suitable for use in disaster areas and agricultural fields, where their mobility is constrained by complex terrain. One of the main challenges in developing soft…
Scale invariance has received very little attention in physics. Nevertheless, it provides a natural conceptual foundation for a relational understanding of the universe, where absolute size loses meaning and only dimensionless ratios retain…
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…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
Grip, walk, crawl, and jump. Soft robots are integrated functional structures composed of compliant mechanisms, whose activity spans various industrial applications such as surgery, healthcare, surveillance, and even planetary exploration.…
Unlike their biological cousins, the majority of existing quadrupedal robots are constructed with rigid chassis. This results in motion that is either beetle-like or distinctly robotic, lacking the natural fluidity characteristic of…
Roboticists are trying to replicate animal behavior in artificial systems. Yet, quantitative bounds on capacity of a moving platform (natural or artificial) to express information in the environment are not known. This paper presents a…
The limitations of three-dimensional semi-classical gravity are explored in the context of a conformally invariant theory for a self-interacting scalar field. The analysis of the theory's scaling behaviour reveals that scalar-loop effects…
High-throughput characterization of architected materials across a wide range of length scales enables rapid screening of topologies for engineering applications. Scaled-down specimens manufactured and evaluated in laboratory environments…
An analysis of the redshift maps of galaxies and quasars has revealed large-scale self-similar skeletal structures of the Universe of the same topology which had been found earlier in a wide range of phenomena, spatial scales and…
This paper proposes an initial theory for robotic systems that can be fully self-maintaining. The new design principles focus on functional survival of the robots over long periods of time without human maintenance. Self-maintaining…
Many current robot designs prioritize efficiency and one-size-fits-all solutions, oftentimes overlooking personalization, adaptability, and sustainability. To explore alternatives, we conducted two co-design workshops with 23 participants,…
Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…
We present an empirical study in the geometric task of learning interatomic potentials, which shows equivariance matters even more at larger scales; we show a clear power-law scaling behaviour with respect to data, parameters and compute…
A robot's mechanical parts routinely wear out from normal functioning and can be lost to injury. For autonomous robots operating in isolated or hostile environments, repair from a human operator is often not possible. Thus, much work has…
Deploying interactive systems in-the-wild requires adaptability to situations not encountered in lab environments. Our work details our experience about the impact of architecture choice on behavior reusability and reactivity while…
Self-assembly in natural and synthetic molecular systems can create complex aggregates or materials whose properties and functionality rises from their internal structure and molecular arrangement. The key microscopic features that control…
Robots come in various forms and have different characteristics that may shape the interaction with them. In human-human interactions, height is a characteristic that shapes human dynamics, with taller people typically perceived as more…
Robots are becoming increasingly essential for traversing complex environments such as disaster areas, extraterrestrial terrains, and marine environments. Yet, their potential is often limited by mobility and adaptability constraints. In…
Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or…