87 citations · 141 across the 5 of their papers we have counts for
6 papers
SMORS: A soft multirotor UAV for multimodal locomotion and robust interaction
Markus Ryll, Robert K. Katzschmann
We present SMORS, the first Soft fully actuated MultirOtoR System for multimodal locomotion. Unlike conventional hexarotors, SMORS is equipped with three rigid and three continuous…
Physics-constrained Unsupervised Learning of Partial Differential Equations using Meshes
Mike Y. Michelis, Robert K. Katzschmann
Enhancing neural networks with knowledge of physical equations has become an efficient way of solving various physics problems, from fluid flow to electromagnetism. Graph neural ne…
RoBoa: Construction and Evaluation of a Steerable Vine Robot for Search and Rescue Applications
Pascal Auf der Maur, Betim Djambazi, Yves Haberthür +10
RoBoa is a vine-like search and rescue robot that can explore narrow and cluttered environments such as destroyed buildings. The robot assists rescue teams in finding and communica…
Sim-to-Real for Soft Robots using Differentiable FEM: Recipes for Meshing, Damping, and Actuation
Mathieu Dubied, Mike Michelis, Andrew Spielberg +1
An accurate, physically-based, and differentiable model of soft robots can unlock downstream applications in optimal control. The Finite Element Method (FEM) is an expressive appro…
Creation of a Modular Soft Robotic Fish Testing Platform
Yu Zhang, Robert K. Katzschmann
Research on the co-optimization of soft robotic design and control requires rapid means for real-world validation. Existing creation pipelines do not allow for the swift prototypin…
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…