55 citations · 60 across the 28 of their papers we have counts for
4 papers · 2 filters
An End-to-End Framework for Modelling Pneumatic Soft Robots Based on Differentiable Finite Element Methods
Shaohong Zhong, Yao Yao, Perla Maiolino +1
Soft robots present significant modelling challenges due to their non-linearity, complex dynamics and potentially intricate geometries. These difficulties in accurate system identi…
PneuTac: Tactile Manipulation with Soft Pneumatic Robots via Unified MPM-Gaussian Splatting Simulation
Shaohong Zhong, Marco Pontin, Joe Watson +2
Soft robots and tactile sensors have demonstrated great potential in delicate manipulation tasks. Soft pneumatic robots enable safe contact through compliance, and vision-based tac…
Imitation from Heterogeneous Demonstrations using Grounded Latent-Action World Models
Tianyou Wang, Anson Lei, Joe Watson +1
Imitation learning has emerged as a powerful paradigm for learning visuomotor policies, but its generalisation and stability are limited by the scale and quality of demonstration d…
Sim-to-Real Transfer for Muscle-Actuated Robots via Generalized Actuator Networks
Jan Schneider, Mridul Mahajan, Le Chen +4
Tendon drives paired with soft muscle actuation enable faster and safer robots while potentially accelerating skill acquisition. Still, these systems are rarely used in practice du…