5 citations · 7 across the 14 of their papers we have counts for
16 papers
Looped Actor: Depth-Recurrent Reasoning Models for Reinforcement Learning
T. Konstantin Rusch, Tim Seyde, Jared Boyer +2
Looped reasoning models repeatedly apply a shared set of parameters, enabling more computation without increasing the model size. These models also support input-dependent computat…
Characterizing Wildlife Response to Biomimetic and Conventional Underwater Vehicles
Huy Pham, Levi Cai, Yogesh Girdhar +2
Autonomous underwater vehicles (AUVs) are a promising alternative to divers for scalable collection of natural ocean ecology data. However, these robots may disturb local fauna and…
Quantifying Mechanical Intelligence in Legged Robots with Information Theory
Zach J. Patterson
Mechanical intelligence, loosely defined as the reduction in control burden afforded by a robot's physical form, has become a prominent concept in robotics, with instantiations in…
Sequential Planning via Anchored Robotic Keypoints
Bryce Grant, Aryeh Rothenberg, Logan Senning +3
Changes in a robot's observations do not automatically imply changes in the task it is solving, but language-conditioned manipulation systems often fail to separate the two. If an…
Control Lyapunov Functions for Underactuated Soft Robots
Huy Pham, Zach J. Patterson
Soft and soft-rigid hybrid robots are inherently underactuated and operate under tight actuator limits, making task-space control with stability guarantees challenging. Common nonl…
Autonomous Sea Turtle Robot for Marine Fieldwork
Zach J. Patterson, Emily Sologuren, Levi Cai +4
Autonomous robots can transform how we observe marine ecosystems, but close-range operation in reefs and other cluttered habitats remains difficult. Vehicles must maneuver safely n…
Learning to Move in Rhythm: Task-Conditioned Motion Policies with Orbital Stability Guarantees
Maximilian Stölzle, T. Konstantin Rusch, Zach J. Patterson +5
Learning from demonstration provides a sample-efficient approach to acquiring complex behaviors, enabling robots to move robustly, compliantly, and with fluidity. In this context,…
Design of Trimmed Helicoid Soft-Rigid Hybrid Robots
Zach J. Patterson, Emily R. Sologuren, Daniela Rus
As soft robot design matures, researchers have converged to sophisticated design paradigms to enable the development of more suitable platforms. Two such paradigms are soft-rigid h…
Safe Autonomous Environmental Contact for Soft Robots using Control Barrier Functions
Akua K. Dickson, Juan C. Pacheco Garcia, Meredith L. Anderson +6
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 unint…
Improving Efficiency of Sampling-based Motion Planning via Message-Passing Monte Carlo
Makram Chahine, T. Konstantin Rusch, Zach J. Patterson +1
Sampling-based motion planning methods, while effective in high-dimensional spaces, often suffer from inefficiencies due to irregular sampling distributions, leading to suboptimal…
Design and Control of Modular Soft-Rigid Hybrid Manipulators with Self-Contact
Zach J. Patterson, Emily Sologuren, Cosimo Della Santina +1
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…
Modeling and Control of Intrinsically Elasticity Coupled Soft-Rigid Robots
Zach J. Patterson, Cosimo Della Santina, Daniela Rus
While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure…
Safe Control for Soft-Rigid Robots with Self-Contact using Control Barrier Functions
Zach J. Patterson, Wei Xiao, Emily Sologuren +1
Incorporating both flexible and rigid components in robot designs offers a unique solution to the limitations of traditional rigid robotics by enabling both compliance and strength…
Safe Supervisory Control of Soft Robot Actuators
Andrew P. Sabelhaus, Zach J. Patterson, Anthony T. Wertz +1
Although soft robots show safer interactions with their environment than traditional robots, soft mechanisms and actuators still have significant potential for damage or degradatio…
Robust Control of a Multi-Axis Shape Memory Alloy-Driven Soft Manipulator
Zach J. Patterson, Andrew P. Sabelhaus, Carmel Majidi
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional m…
An Untethered Brittle Star-Inspired Soft Robot for Closed-Loop Underwater Locomotion
Zach J. Patterson, Andrew P. Sabelhaus, Keene Chin +2
Soft robots are capable of inherently safer interactions with their environment than rigid robots since they can mechanically deform in response to unanticipated stimuli. However,…