35 citations · 98 across the 23 of their papers we have counts for
10 papers · 1 filter
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…
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…
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…
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…