相关论文: Intersection-free Robot Manipulation with Soft-Rig…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
We introduce Midas, a robotics simulation framework based on the Incremental Potential Contact (IPC) model. Our simulator guarantees intersection-free, stable, and accurate resolution of frictional contact. We demonstrate the efficacy of…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an…
Accurate frictional contact is critical in simulating the assembly of rod-like structures in the practical world, such as knots, hairs, flagella, and more. Due to their high geometric nonlinearity and elasticity, rod-on-rod contact remains…
Simulating deformable objects under rich interactions remains a fundamental challenge for real-to-sim robot manipulation, with dynamics jointly driven by environmental effects and robot actions. Existing simulators rely on predefined…
In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and actuation methods (e.g., pneumatic, cable-driven, servomotor).…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
In this paper, we introduce a novel convex formulation that seamlessly integrates the Material Point Method (MPM) with articulated rigid body dynamics in frictional contact scenarios. We extend the linear corotational hyperelastic model…
Differentiable physics simulation provides an avenue to tackle previously intractable challenges through gradient-based optimization, thereby greatly improving the efficiency of solving robotics-related problems. To apply differentiable…
With the explosive growth of rigid-body simulators, policy learning in simulation has become the de facto standard for most rigid morphologies. In contrast, soft robotic simulation frameworks remain scarce and are seldom adopted by the soft…
Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors…
To achieve general-purpose dexterous manipulation, robots must rapidly devise and execute contact-rich behaviors. Existing model-based controllers are incapable of globally optimizing in real-time over the exponential number of possible…
Soft robotics focuses on designing robots with highly deformable materials, allowing them to adapt and operate safely and reliably in unstructured and variable environments. While soft robots offer increased compliance over rigid body…
Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…
The simulation of multi-body systems with frictional contacts is a fundamental tool for many fields, such as robotics, computer graphics, and mechanics. Hard frictional contacts are particularly troublesome to simulate because they make the…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…