6 papers
Toward Trustworthy Physical AI for Human Interaction
Niccolò Pagliarani, Maximilian Stölzle, Cosima du Pasquier +6
Robots are entering human spaces faster than we can establish when they deserve trust. We propose a framework for trustworthy physical AI that integrates Safety, Behavioral Intelli…
Safety Control of a Hyper-redundant Robot via Adaptive Weighted Control Barrier Functions
Zijian Cai, Kiwan Wong, Wenci Xin +3
Hyper-redundant robots are well suited for confined-space manipulation due to their high dexterity, but safe operation in cluttered environments remains challenging. In addition, t…
Shape Control of a Planar Hyper-Redundant Robot via Hybrid Kinematics-Informed and Learning-based Approach
Yuli Song, Wenbo Li, Wenci Xin +3
Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment fl…
Octopus-inspired Distributed Control for Soft Robotic Arms: A Graph Neural Network-Based Attention Policy with Environmental Interaction
Linxin Hou, Qirui Wu, Zhihang Qin +2
This paper proposes SoftGM, an octopus-inspired distributed control architecture for segmented soft robotic arms that learn to reach targets in contact-rich environments using onli…
Unified Structural-Hydrodynamic Modeling of Underwater Underactuated Mechanisms and Soft Robots
Chenrui Zhang, Yiyuan Zhang, Yunfei Ye +3
Underwater robots are widely deployed for ocean exploration and manipulation. Underactuated mechanisms are advantageous in aquatic environments because reducing actuator count lowe…
Soft yet Effective Robots via Holistic Co-Design
Maximilian Stölzle, Niccolò Pagliarani, Francesco Stella +6
Soft robots promise inherent safety via their material compliance for seamless interactions with humans or delicate environments. Despite progress, the field struggles to balance t…