87 citations · 452 across the 47 of their papers we have counts for
4 papers · 1 filter
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…
Adaptive Dynamic Sliding Mode Control of Soft Continuum Manipulators
Amirhossein Kazemipour, Oliver Fischer, Yasunori Toshimitsu +2
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based contr…
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…
SoPrA: Fabrication & Dynamical Modeling of a Scalable Soft Continuum Robotic Arm with Integrated Proprioceptive Sensing
Yasunori Toshimitsu, Ki Wan Wong, Thomas Buchner +1
Due to their inherent compliance, soft robots are more versatile than rigid linked robots when they interact with their environment, such as object manipulation or biomimetic motio…