81 citations · 210 across the 31 of their papers we have counts for
10 papers · 1 filter
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…
Agronav: Autonomous Navigation Framework for Agricultural Robots and Vehicles using Semantic Segmentation and Semantic Line Detection
Shivam K Panda, Yongkyu Lee, M. Khalid Jawed
The successful implementation of vision-based navigation in agricultural fields hinges upon two critical components: 1) the accurate identification of key components within the sce…
Rapid design of fully soft deployable structures via kirigami cuts and active learning
Leixin Ma, Mrunmayi Mungekar, Vwani Roychowdhury +1
Soft deployable structures - unlike conventional piecewise rigid deployables based on hinges and springs - can assume intricate 3-D shapes, thereby enabling transformative technolo…
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…