相关论文: Sim2Real for Soft Robotic Fish via Differentiable …

Simulation provides a cost-effective and flexible platform for data generation and policy learning to develop robotic systems. However, bridging the gap between simulation and real-world dynamics remains a significant challenge, especially…

This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…

Bridging the sim-to-real gap remains a fundamental challenge in robotics, as accurate dynamic parameter estimation is essential for reliable model-based control, realistic simulation, and safe deployment of manipulators. Traditional…

Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for…

With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of soft robots to estimate or intrinsically sense forces without requiring external sensing…

We develop an automated computational modeling framework for rapid gradient-based design of multistable soft mechanical structures composed of non-identical bistable unit cells with appropriate geometric parameterization. This framework…

Magnetic soft robots have attracted growing interest due to their unique advantages in terms of untethered actuation and excellent controllability. However, finding the required magnetization patterns or magnetic fields to achieve the…

Machine learning models often require large datasets and struggle to generalize beyond their training distribution. These limitations pose significant challenges in scientific and engineering contexts, where generating exhaustive datasets…

We propose a novel differentiable physics engine for system identification of complex spring-rod assemblies. Unlike black-box data-driven methods for learning the evolution of a dynamical system \emph{and} its parameters, we modularize the…

Robust control policy learning for autonomous driving requires training environments to be both physically realistic and computationally scalable, properties that existing simulators provide only in isolation. We introduce Sim2Sim2Sim, a…

We present an elastic simulator for domains defined as evolving implicit functions, which is efficient, robust, and differentiable with respect to both shape and material. This simulator is motivated by applications in 3D reconstruction: it…

Dynamic bonding is an essential feature of many soft materials. Molecular simulations have proven to be a powerful tool for modeling bonding kinetics and thermodynamics in these materials, providing insights into their properties that…

Accurate and adaptive dynamic models are critical for underwater vehicle-manipulator systems where hydrodynamic effects induce time-varying parameters. This paper introduces a novel uncertainty-aware adaptive dynamics model framework that…

This paper addresses a new strategy called Simulation-to-Real-to-Simulation (Sim2Real2Sim) to bridge the gap between simulation and real-world, and automate a flexible object manipulation task. This strategy consists of three steps: (1)…

We present a scheme for producing tunable active dynamics in a self-propelled robotic device. The robot moves using the differential drive mechanism where two wheels can vary their instantaneous velocities independently. These velocities…

Aquatic organisms are known for their ability to generate efficient propulsion with low energy expenditure. While existing research has sought to leverage bio-inspired structures to reduce energy costs in underwater robotics, the crucial…

Algorithms that use derivatives of governing equations have accelerated rigid robot simulations and improved their accuracy, enabling the modeling of complex, real-world capabilities. However, extending these methods to soft and hybrid…

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…

Skeletal muscle-based biohybrid actuators have proved to be a promising component in soft robotics, offering efficient movement. However, their intrinsic biological variability and nonlinearity pose significant challenges for…

This study presents a novel methodology incorporating safety constraints into a robotic simulation during the training of deep reinforcement learning (DRL). The framework integrates specific parts of the safety requirements, such as…