相关论文: Proprioceptive Sensing of Soft Tentacles with Mode…

Whole body tactile perception via tactile skins offers large benefits for robots in unstructured environments. To fully realize this benefit, tactile systems must support real-time data acquisition over a massive number of tactile sensor…

Adaptive morphogenetic robots adapt their morphology and control policies to meet changing tasks and environmental conditions. Many such systems leverage soft components, which enable shape morphing but also introduce simulation and control…

With the growth of editing and sharing images through the internet, the importance of protecting the images' authorship has increased. Robust watermarking is a known approach to maintaining copyright protection. Robustness and…

Compressed sensing seeks to invert an underdetermined linear system by exploiting additional knowledge of the true solution. Over the last decade, several instances of compressed sensing have been studied for various applications, and for…

Depending on multiple parameters, soft robots can exhibit different modes of locomotion that are difficult to model numerically. As a result, improving their performance is complex, especially in small-scale systems characterized by low…

Jellyfish cyborgs present a promising avenue for soft robotic systems, leveraging the natural energy-efficiency and adaptability of biological systems. Here we demonstrate a novel approach to predicting and controlling jellyfish locomotion…

In this paper, a novel fully 3D, microfluidic-oriented, gel-based, and low-cost highly stretchable resistive sensors have been presented. By the proposed method we are able to measure and discriminate all of the stretch, twist, and pressure…

In many applications, it is important to reconstruct a fluid flow field, or some other high-dimensional state, from limited measurements and limited data. In this work, we propose a shallow neural network-based learning methodology for such…

Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…

This paper proposes a new data-driven approach to model detailed splashes for liquid simulations with neural networks. Our model learns to generate small-scale splash detail for the fluid-implicit-particle method using training data…

Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an…

This paper addresses the robustness problem of visual-inertial state estimation for underwater operations. Underwater robots operating in a challenging environment are required to know their pose at all times. All vision-based localization…

Objective: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish…

The predictive functions that permit humans to infer their body state by sensorimotor integration are critical to perform safe interaction in complex environments. These functions are adaptive and robust to non-linear actuators and noisy…

This paper investigates the shape reconstructions of sub-wavelength objects from near-field measurements in transverse electromagnetic scattering. This geometric inverse problem is notoriously ill-posed and challenging. We develop a novel…

Accurate prediction of wake dynamics behind hydrofoils is critical for mitigating vortex-induced vibrations and improving the performance of hydraulic machinery. Conventional turbulence modeling approaches often struggle to capture the…

This paper introduces a learning-based modeling framework for a magnetically steerable soft suction device designed for endoscopic endonasal brain tumor resection. The device is miniaturized (4 mm outer diameter, 2 mm inner diameter, 40 mm…

Tensegrity structures are becoming widely used in robotics, such as continuously bending soft manipulators and mobile robots to explore unknown and uneven environments dynamically. Estimating their shape, which is the foundation of their…

In this paper, we propose an approach to detect incipient slip, i.e. predict slip, by using a high-resolution vision-based tactile sensor, GelSlim. The sensor dynamically captures the tactile imprints of the contact object and their changes…

In-hand object manipulation is a fundamental yet challenging capability for dexterous robots. Despite significant progress in dexterous manipulation, existing approaches rely heavily on vision or tactile sensing to track object states,…