5 papers
Learning to infer and manipulate through distributed whole-arm interaction in a soft robot
Chuhan Zhang, Ebrahim Shahabi, Kseniia Khomenko +2
In animals such as elephants and octopuses, acquiring non-visual information about an object and physically engaging with it are inseparable processes mediated by rich, large-area…
SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models
Maximilian Stölzle, Solange Gribonval, Daniel Feliu-Talegon +9
Reduced-order models based on Cosserat-rod theory are now well established, and modeling theory is no longer the primary bottleneck in soft-robot control. Their implementations, ho…
Propeller-Assisted Robust 3D Hopping Robot with Hierarchical Force Allocation
Chuhan Zhang, Hongbo Zhang, Yanlin Chen +4
Monopedal hopping robots are conceptually simple but highly dynamic and inherently unstable. Achieving robust 3D hopping is still difficult because ground reaction forces are avail…
SpikingSoft: A Spiking Neuron Controller for Bio-inspired Locomotion with Soft Snake Robots
Chuhan Zhang, Cong Wang, Wei Pan +1
Inspired by the dynamic coupling of moto-neurons and physical elasticity in animals, this work explores the possibility of generating locomotion gaits by utilizing physical oscilla…
NiSNN-A: Non-iterative Spiking Neural Networks with Attention with Application to Motor Imagery EEG Classification
Chuhan Zhang, Wei Pan, Cosimo Della Santina
Motor imagery, an important category in electroencephalogram (EEG) research, often intersects with scenarios demanding low energy consumption, such as portable medical devices and…