4 papers
Neural Control: Adjoint Learning Through Equilibrium Constraints
Dezhong Tong, Jiawen Wang, Hengyi Zhou +3
Many physical AI tasks require sequential implicit computation: at each step, boundary controls are applied, and the resulting configuration is obtained by solving an equilibrium p…
Highly Deformable Proprioceptive Membrane for Real-Time 3D Shape Reconstruction
Guanyu Xu, Jiaqi Wang, Dezhong Tong +1
Reconstructing the three-dimensional (3D) geometry of object surfaces is essential for robot perception, yet vision-based approaches degrade under low illumination or occlusion. Th…
Discrete Differential Geometry for Simulating Nonlinear Behaviors of Flexible Systems: A Survey
Dezhong Tong, Andrew Choi, Jiaqi Wang +7
Flexible slender structures such as rods, ribbons, plates, and shells exhibit extreme nonlinear responses bending, twisting, buckling, wrinkling, and self contact, that defy conven…
Simplified discrete model for axisymmetric dielectric elastomer membranes with robotic applications
Zhaowei Liu, Mingchao Liu, K. Jimmy Hsia +2
Soft robots utilizing inflatable dielectric membranes can realize intricate functionalities through the application of non-mechanical fields. However, given the current limitations…