139 citations · 527 across the 41 of their papers we have counts for
42 papers
Diverse and Adaptable Arm Coordination for Octopus-Crawling via Diffusion-Based Uncertainty-Aware Optimization
Seung Hyun Kim, Heng-Sheng Chang, Kimia Kazemi +2
Octopus crawling motivates soft robots that exploit redundancy, yet discovering and organizing diverse coordination modes for adaptation remains challenging. To address this, we in…
Elastica++: A high-performance, multiphysics framework for large interacting assemblies of Cosserat rods
Tejaswin Parthasarathy, Seung Hyun Kim, Songyuan Cui +1
Soft, slender structures are ubiquitous in natural and engineered systems, with broad application potential from biomimetic materials to soft robotics. However, there is a notable…
Learning, locomotion, and navigation of soft synthetic snakes in three-dimensional, heterogeneous environments
Xiaotian Zhang, Ali Albazroun, Tixian Wang +3
Limbless terrestrial animals exhibit exceptional locomotor versatility and control, currently unmatched by engineered counterparts. Here, we introduce a computational framework tha…
Computing with Living Neurons: Chaos-Controlled Reservoir Computing with Knowledge Transplant
Seung Hyun Kim, Zhi Dou, Gaurav Upadhyay +6
We introduce chaos-controlled Reservoir Computing (cc-RC) for living neural cultures: dynamically rich substrates of unique potential for adaptive computation. To account for intri…
Joint Surrogate Learning of Objectives, Constraints, and Sensitivities for Efficient Multi-objective Optimization of Neural Dynamical Systems
Frithjof Gressmann, Ivan Georgiev Raikov, Seung Hyun Kim +3
Gaussian process surrogates dominate constrained multi-objective optimization because they are effective in data-scarce regimes, but their cubic scaling in training samples limits…
S2Act: Simple Spiking Actor
Ugur Akcal, Seung Hyun Kim, Mikihisa Yuasa +6
Spiking neural networks (SNNs) and biologically-inspired learning mechanisms are attractive in mobile robotics, where the size and performance of onboard neural network policies ar…
Digital twins for the design, interactive control, and deployment of modular, fiber-reinforced soft continuum arms
Seung Hyun Kim, Jiamiao Guo, Arman Tekinalp +9
Soft continuum arms (SCAs) promise versatile manipulation through mechanical compliance, for assistive devices, agriculture, search applications, or surgery. However, the strong no…
Neural reservoir control of a soft bio-hybrid arm
Noel Naughton, Arman Tekinalp, Keshav Shivam +3
A long-standing engineering problem, the control of soft robots is difficult because of their highly non-linear, heterogeneous, anisotropic, and distributed nature. Here, bridging…
A Neural Network-based Framework for Fast and Smooth Posture Reconstruction of a Soft Continuum Arm
Tixian Wang, Heng-Sheng Chang, Seung Hyun Kim +9
A neural network-based framework is developed and experimentally demonstrated for the problem of estimating the shape of a soft continuum arm (SCA) from noisy measurements of the p…
Neural Models and Algorithms for Sensorimotor Control of an Octopus Arm
Tixian Wang, Udit Halder, Ekaterina Gribkova +3
In this article, a biophysically realistic model of a soft octopus arm with internal musculature is presented. The modeling is motivated by experimental observations of sensorimoto…
Soft, slender and active structures in fluids: embedding Cosserat rods in vortex methods
Arman Tekinalp, Yashraj Bhosale, Songyuan Cui +2
We present a hybrid Eulerian-Lagrangian method for the direct simulation of three-dimensional, heterogeneous structures made of soft fibers and immersed in incompressible viscous f…
Density-contrast induced inertial forces on particles in oscillatory flows
Siddhansh Agarwal, Gaurav Upadhyay, Yashraj Bhosale +2
Oscillatory flows have become an indispensable tool in microfluidics, inducing inertial effects for displacing and manipulating fluid-borne objects in a reliable, controllable, and…
Topology, dynamics, and control of an octopus-analog muscular hydrostat
Arman Tekinalp, Noel Naughton, Seung-Hyun Kim +5
Muscular hydrostats, such as octopus arms or elephant trunks, lack bones entirely, endowing them with exceptional dexterity and reconfigurability. Key to their unmatched ability to…
Three-dimensional soft streaming
Songyuan Cui, Yashraj Bhosale, Mattia Gazzola
Viscous streaming is an efficient rectification mechanism to exploit flow inertia at small scales for fluid and particle manipulation. It typically entails a fluid vibrating around…
Non-planar snake gaits: from Stigmatic-starts to Sidewinding
N. Charles, R. Chelakkot, M. Gazzola +2
Of the vast variety of animal gaits, one of the most striking is the non-planar undulating motion of a sidewinder. But non-planar gaits are not limited to sidewinders. Here we repo…
Hierarchical control and learning of a foraging CyberOctopus
Chia-Hsien Shih, Noel Naughton, Udit Halder +5
Inspired by the unique neurophysiology of the octopus, we propose a hierarchical framework that simplifies the coordination of multiple soft arms by decomposing control into high-l…
Modeling the Neuromuscular Control System of an Octopus Arm
Tixian Wang, Udit Halder, Ekaterina Gribkova +2
The octopus arm is a neuromechanical system that involves a complex interplay between peripheral nervous system (PNS) and arm musculature. This makes the arm capable of carrying ou…
An in vitro living system for flow rectification
Zhi Dou, Liu Hong, Zhengwei Li +7
Small - but finite - fluid inertia can be leveraged to generate steady flows out of liquid vibrations around an immersed interface. In engineering, external high-frequency drivers…
Coordinated Science Laboratory 70th Anniversary Symposium: The Future of Computing
Klara Nahrstedt, Naresh Shanbhag, Vikram Adve +25
In 2021, the Coordinated Science Laboratory CSL, an Interdisciplinary Research Unit at the University of Illinois Urbana-Champaign, hosted the Future of Computing Symposium to cele…
Energy Shaping Control of a Muscular Octopus Arm Moving in Three Dimensions
Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih +3
Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems conti…
A Sensory Feedback Control Law for Octopus Arm Movements
Tixian Wang, Udit Halder, Ekaterina Gribkova +3
The main contribution of this paper is a novel sensory feedback control law for an octopus arm. The control law is inspired by, and helps integrate, several observations made by bi…
Soft streaming -- flow rectification via elastic boundaries
Yashraj Bhosale, Tejaswin Parthasarathy, Mattia Gazzola
Viscous streaming is an efficient mechanism to exploit inertia at the microscale for flow control. While streaming from rigid features has been thoroughly investigated, when body c…
Micromechanical origin of plasticity and hysteresis in nest-like packings
Yashraj Bhosale, Nicholas Weiner, Alex Butler +3
Disordered packings of unbonded, semiflexible fibers represent a class of materials spanning contexts and scales. From twig-based bird nests to unwoven textiles, bulk mechanics of…
Multi-curvature viscous streaming: flow topology and particle manipulation
Yashraj Bhosale, Giridar Vishwanathan, Tejaswin Parthasarathy +2
Viscous streaming refers to the rectified, steady flows that emerge when a liquid oscillates around an immersed microfeature, typically a solid body or a bubble. The ability of suc…