2 papers
cs.LG2021
DiffAqua: A Differentiable Computational Design Pipeline for Soft Underwater Swimmers with Shape Interpolation
Pingchuan Ma, Tao Du, John Z. Zhang +4
The computational design of soft underwater swimmers is challenging because of the high degrees of freedom in soft-body modeling. In this paper, we present a differentiable pipelin…
cs.RO2021
Mediating between Contact Feasibility and Robustness of Trajectory Optimization through Chance Complementarity Constraints
Luke Drnach, John Z. Zhang, Ye Zhao
As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, plann…