58 citations · 81 across the 5 of their papers we have counts for
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cs.RO2021★ 19 cited
Sim2Real for Soft Robotic Fish via Differentiable Simulation
John Z. Zhang, Yu Zhang, Pingchuan Ma +5
Accurate simulation of soft mechanisms under dynamic actuation is critical for the design of soft robots. We address this gap with our differentiable simulation tool by learning th…
cs.LG2021★ 58 cited
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…