81 citations · 210 across the 31 of their papers we have counts for
6 papers · 2 filters
DisMech: A Discrete Differential Geometry-based Physical Simulator for Soft Robots and Structures
Andrew Choi, Ran Jing, Andrew Sabelhaus +1
Fast, accurate, and generalizable simulations are a key enabler of modern advances in robot design and control. However, existing simulation frameworks in robotics either model rig…
Modeling, Characterization, and Control of Bacteria-inspired Bi-flagellated Mechanism with Tumbling
Zhuonan Hao, Sangmin Lim, M. Khalid Jawed
Multi-flagellated bacteria utilize the hydrodynamic interaction between their filamentary tails, known as flagella, to swim and change their swimming direction in low Reynolds numb…
Sim2Real Neural Controllers for Physics-based Robotic Deployment of Deformable Linear Objects
Dezhong Tong, Andrew Choi, Longhui Qin +3
Deformable linear objects (DLOs), such as rods, cables, and ropes, play important roles in daily life. However, manipulation of DLOs is challenging as large geometrically nonlinear…
Design of Bistable Soft Deployable Structures via a Kirigami-inspired Planar Fabrication Approach
Mrunmayi Mungekar, Leixin Ma, Wenzhong Yan +3
Fully soft bistable mechanisms have shown extensive applications ranging from soft robotics, wearable devices, and medical tools, to energy harvesting. However, the lack of design…
mBEST: Realtime Deformable Linear Object Detection Through Minimal Bending Energy Skeleton Pixel Traversals
Andrew Choi, Dezhong Tong, Brian Park +3
Robotic manipulation of deformable materials is a challenging task that often requires realtime visual feedback. This is especially true for deformable linear objects (DLOs) or "ro…
Learning Neural Force Manifolds for Sim2Real Robotic Symmetrical Paper Folding
Andrew Choi, Dezhong Tong, Demetri Terzopoulos +2
Robotic manipulation of slender objects is challenging, especially when the induced deformations are large and nonlinear. Traditionally, learning-based control approaches, such as…