87 citations · 452 across the 47 of their papers we have counts for
15 papers · 1 filter
Autonomous Marker-less Rapid Aerial Grasping
Erik Bauer, Barnabas Gavin Cangan, Robert K. Katzschmann
In a future with autonomous robots, visual and spatial perception is of utmost importance for robotic systems. Particularly for aerial robotics, there are many applications where u…
Meta-Learning via Classifier(-free) Diffusion Guidance
Elvis Nava, Seijin Kobayashi, Yifei Yin +2
We introduce meta-learning algorithms that perform zero-shot weight-space adaptation of neural network models to unseen tasks. Our methods repurpose the popular generative image sy…
Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs
Stephan-Daniel Gravert, Mike Y. Michelis, Simon Rogler +3
Soft robotics has the potential to revolutionize robotic locomotion, in particular, soft robotic swimmers offer a minimally invasive and adaptive solution to explore and preserve o…
Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing
Barnabas Gavin Cangan, Stefan Escaida Navarro, Bai Yang +3
For soft robots to work effectively in human-centered environments, they need to be able to estimate their state and external interactions based on (proprioceptive) sensors. Estima…
Flying Hydraulically Amplified Electrostatic Gripper System for Aerial Object Manipulation
Dario Tscholl, Stephan-Daniel Gravert, Aurel X. Appius +1
Rapid and versatile object manipulation in air is an open challenge. An energy-efficient and adaptive soft gripper combined with an agile aerial vehicle could revolutionize aerial…
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…
A Unified and Modular Model Predictive Control Framework for Soft Continuum Manipulators under Internal and External Constraints
Filippo A. Spinelli, Robert K. Katzschmann
Fluidically actuated soft robots have promising capabilities such as inherent compliance and user safety. The control of soft robots needs to properly handle nonlinear actuation dy…
Fast Aquatic Swimmer Optimization with Differentiable Projective Dynamics and Neural Network Hydrodynamic Models
Elvis Nava, John Z. Zhang, Mike Y. Michelis +5
Aquatic locomotion is a classic fluid-structure interaction (FSI) problem of interest to biologists and engineers. Solving the fully coupled FSI equations for incompressible Navier…
Prismatic Soft Actuator Augments the Workspace of Soft Continuum Robots
Philipp Wand, Oliver Fischer, Robert K. Katzschmann
Soft robots are promising for manipulation tasks thanks to their compliance, safety, and high degree of freedom. However, the commonly used bidirectional continuum segment design m…
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…
RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots
Aurel Appius, Erik Bauer, Marc Blöchlinger +7
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipul…
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…
Dynamic Task Space Control Enables Soft Manipulators to Perform Real-World Tasks
Oliver Fischer, Yasunori Toshimitsu, Amirhossein Kazemipour +1
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters…