5 papers
Fast Asymptotically Optimal Kinodynamic Planning via Vectorization
Yitian Gao, Andrew Lu, Zachary Kingston
Sampling-based motion planners have been shown to be effective for systems with complex kinodynamic constraints and high dimensionality. However, these algorithms struggle to achie…
Linking Exteroception and Proprioception through Improved Contact Modeling for Soft Growing Robots
Francesco Fuentes, Serigne Diagne, Zachary Kingston +1
Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growin…
Parallel Simulation of Contact and Actuation for Soft Growing Robots
Yitian Gao, Lucas Chen, Priyanka Bhovad +3
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is the…
Differentiable Particle Optimization for Fast Sequential Manipulation
Lucas Chen, Shrutheesh Raman Iyer, Zachary Kingston
Sequential robot manipulation tasks require finding collision-free trajectories that satisfy geometric constraints across multiple object interactions in potentially high-dimension…
Physics-Grounded Differentiable Simulation for Soft Growing Robots
Lucas Chen, Yitian Gao, Sicheng Wang +3
Soft-growing robots (i.e., vine robots) are a promising class of soft robots that allow for navigation and growth in tightly confined environments. However, these robots remain cha…