相关论文: Computational synthesis of locomotive soft robots …

Soft robots, inspired by elephant trunks or octopus arms, offer extraordinary flexibility to bend, twist, and elongate in ways that rigid robots cannot. However, their motion planning remains a challenge, especially in cluttered…

Soft prompt tuning leverages continuous embeddings to capture task-specific information in large pre-trained language models (LLMs), achieving competitive performance in few-shot settings. However, soft prompts rely on high-dimensional,…

This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…

Designing robot morphologies and kinematics has traditionally relied on human intuition, with little systematic foundation. Motion-design co-optimization offers a promising path toward automation, but two major challenges remain: (i) the…

Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…

We present SMORS, the first Soft fully actuated MultirOtoR System for multimodal locomotion. Unlike conventional hexarotors, SMORS is equipped with three rigid and three continuously soft arms, with each arm hosting a propeller. We create a…

Topology optimization (TO) is a family of computational methods that derive near-optimal geometries from formal problem descriptions. Despite their success, established TO methods are limited to generating single solutions, restricting the…

We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins.Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody…

Evolutionary algorithms offer great promise for the automatic design of robot bodies, tailoring them to specific environments or tasks. Most research is done on simplified models or virtual robots in physics simulators, which do not capture…

Co-designing a robot's morphology and control can ensure synergistic interactions between them, prevalent in biological organisms. However, co-design is a high-dimensional search problem. To make this search tractable, we need a systematic…

In today's uncertain and competitive market, where enterprises are subjected to increasingly shortened product life-cycles and frequent volume changes, reconfigurable manufacturing systems (RMS) applications play a significant role in the…

Soft robots offer remarkable adaptability and safety advantages over rigid robots, but modeling their complex, nonlinear dynamics remains challenging. Strain-based models have recently emerged as a promising candidate to describe such…

Soft robots are naturally designed to perform safe interactions with their environment, like locomotion and manipulation. In the literature, there are now many concepts, often bio-inspired, to propose new modes of locomotion or grasping.…

In traditional topology optimization, the computing time required to iteratively update the material distribution within a design domain strongly depends on the complexity or size of the problem, limiting its application in real engineering…

Topology optimization (TO) is a common technique used in free-form designs. However, conventional TO-based design approaches suffer from high computational cost due to the need for repetitive forward calculations and/or sensitivity…

We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…

Surgical robot simulation platform plays a crucial role in enhancing training efficiency and advancing research on robot learning. Much effort have been made by scholars on developing open-sourced surgical robot simulators to facilitate…

Reduced-order models (ROM) are popular in online motion planning due to their simplicity. A good ROM for control captures critical task-relevant aspects of the full dynamics while remaining low dimensional. However, planning within the…

Evolutionary robotics aims to automatically design autonomous adaptive morphological robots that can evolve to accomplish a specific task while adapting to environmental changes. Soft robotics have demonstrated the feasibility of…

Parametric human body models are foundational to human reconstruction, animation, and simulation, yet they remain mutually incompatible: SMPL, SMPL-X, MHR, Anny, and related models each diverge in mesh topology, skeletal structure, shape…