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Shake to Learn: Dynamic Interrogation of Hidden Object Physics for Robotic Manipulation with Physical Reservoir Computing
Wen Sin Lor, Jun Wang, Suyi Li
Many physical properties relevant to robotic manipulation are hidden from vision. A sealed object, for example, may reveal little about its center of mass (COM) or internal content…
OpenPRC: A Unified Open-Source Framework for Physics-to-Task Evaluation in Physical Reservoir Computing
Yogesh Phalak, Wen Sin Lor, Apoorva Khairnar +3
Physical Reservoir Computing (PRC) leverages the intrinsic nonlinear dynamics of physical substrates, mechanical, optical, spintronic, and beyond, as fixed computational reservoirs…
Stochastic Entanglement of Deterministic Origami Tentacles For Robust Robotic Grasping
Alec Boron, Bokun Zheng, Ziyang Zhou +2
Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of ob…
Hyper Yoshimura: How a slight tweak on a classical folding pattern unleashes meta-stability for deployable robots
Ziyang Zhou, Yogesh Phalak, Vishrut Deshpande +3
Deployable structures inspired by origami have provided lightweight, compact, and reconfigurable solutions for various robotic and architectural applications. However, creating an…
"Golden Ratio Yoshimura" for Meta-Stable and Massively Reconfigurable Deployment
Vishrut Deshpande, Yogesh Phalak, Ziyang Zhou +2
Yoshimura origami is a classical folding pattern that has inspired many deployable structure designs. Its applications span from space exploration, kinetic architectures, and soft…
Self-Sustained And Coordinated Rhythmic Deformations With SMA For Controller-Free Locomotion
Ziyang Zhou, Suyi Li
This study presents a modular, electronics-free, and fully onboard control and actuation approach for SMA-based soft robots to achieve locomotion tasks. This approach exploits the…