Soft robots have applications in safe human-robot interactions, manipulation of fragile objects, and locomotion in challenging and unstructured environments. In this paper, we present a computational method for augmenting soft robots with proprioceptive sensing capabilities. Our method automatically computes a minimal stretch-receptive sensor network to user-provided soft robotic designs, which is optimized to perform well under a set of user-specified deformation-force pairs. The sensorized robots are able to reconstruct their full deformation state, under interaction forces. We cast our sensor design as a sub-selection problem, selecting a minimal set of sensors from a large set of fabricable ones which minimizes the error when sensing specified deformation-force pairs. Unique to our approach is the use of an analytical gradient of our reconstruction performance measure with respect to selection variables. We demonstrate our technique on a bending bar and gripper example, illustrating more complex designs with a simulated tentacle.
We propose a novel generic shape optimization method for CAD models based on the eXtended Finite Element Method (XFEM).
We present a system for fast and robust handovers with a robot character, together with a user study investigating the effect of robot speed and reaction time on perceived interaction quality. The system can match and exceed human speeds and confirms that users prefer human-level timing.
Creating animations for robotic characters is very challenging due to the constraints imposed by their physical nature. In particular, the combination of fast motions and unavoidable structural deformations leads to mechanical oscillations that negatively affect their performances. Our goal is to automatically transfer motions created using traditional animation software to robotic characters while avoiding such artifacts.
In this paper, we propose a trajectory-based reinforcement learning method named deep latent policy gradient (DLPG) for learning locomotion skills.
We propose a structural optimization that jointly optimizes an ornament’s strength-to-weight ratio and balance under self-weight, thermal, wind, and live loads.
This paper describes a system for autonomous spray painting using a UAV, suitable for industrial applications.
The paper describes a complete working pipeline to build a globally consistent map of a given ground-plane and subsequently to localize within this map at real-time.
We demonstrate a nested controller using temperature and position feedback to improve contraction speed, and investigate the cooling rates of various configurations that increase total force output.
We present the design and performance evaluation of a bipedal robot that utilizes the Hybrid Leg mechanism.
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