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This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots.
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Jahng-Hyon Park and Haruhiko Asada · 1994
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HJ Qi, K Joyce and MC Boyce · 2003
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Robert. Shepherd, Filip Ilievski, Wonjae Choi, Stephen. Morin, Adam. Stokes, Aaron. Mazzeo, Xin Chen, Michael Wang and George. Whitesides · 2011
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“Unshackling evolution: evolving soft robots with multiple materials and a powerful generative encoding”
Nick Cheney, Robert MacCurdy, Jeff Clune and Hod Lipson · 2013
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“Robust structure-control design approach for mechatronic systems”
Miguel. Villarreal-Cervantes, Carlos. Cruz-Villar, Jaime Alvarez-Gallegos and Edgar. Portilla-Flores · 2013
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“Concurrent optimization of mechanical design and locomotion control of a legged robot”
K.. Digumarti, C. Gehring, S. Coros, J. Hwangbo and R. Siegwart · 2014
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“Dimensional reduction of nonlinear finite element dynamic models with finite rotations and energy-based mesh sampling and weighting for computational efficiency”
Charbel Farhat, Philip Avery, Todd Chapman and Julien Cortial · 2014
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“Dynamic Simulation of Soft Multimaterial 3D-Printed Objects”
Jonathan Hiller and Hod Lipson · 2014
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“The soft robotics toolkit: Shared resources for research and design”
Dónal Holland, Evelyn Park, Panagiotis Polygerinos, Gareth Bennett and Conor Walsh · 2014
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“Pneumatic networks for soft robotics that actuate rapidly”
Bobak Mosadegh, Panagiotis Polygerinos, Christoph Keplinger, Sophia Wennstedt, Robert Shepherd, Unmukt Gupta, Jongmin Shim, Katia Bertoldi, Conor Walsh and George Whitesides · 2014
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“Robust Trajectory Optimization Under Frictional Contact with Iterative Learning”
Jingru Luo and Kris Hauser · 2015
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“Design, fabrication and control of soft robots”
Daniela Rus and Michael Tolley · 2015
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“Design and locomotion control of a soft robot using friction manipulation and motor–tendon actuation”
Vishesh Vikas, Eliad Cohen, Rob Grassi, Canberk Sözer and Barry Trimmer · 2016
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“Software toolkit for modeling, simulation, and control of soft robots”
E. Coevoet, T. Morales-Bieze, F. Largilliere, Z. Zhang, Maxime Thieffry, M. Sanz-Lopez, B. Carrez, Damien Marchal, Olivier Goury, J. Dequidt and Christian Duriez · 2017
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“Automated co-design of soft hand morphology and control strategy for grasping”
Raphael Deimel, Patrick Irmisch, Vincent Wall and Oliver Brock · 2017
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“Joint Optimization of Robot Design and Motion Parameters using the Implicit Function Theorem”
Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim and Katsu Yamane · 2017
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“Functional co-optimization of articulated robots”
Andrew Spielberg, Brandon Araki, Cynthia Sung, Russ Tedrake and Daniela Rus · 2017
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“Skaterbots: Optimization-based design and motion synthesis for robotic creatures with legs and wheels”
Moritz Geilinger, Roi Poranne, Ruta Desai, Bernhard Thomaszewski and Stelian Coros · 2018
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“Fast, Generic, and Reliable Control and Simulation of Soft Robots Using Model Order Reduction”
Olivier Goury and Christian Duriez · 2018
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“Soft actor-critic: Off-policy maximum entropy deep reinforcement learning with a stochastic actor”
Tuomas Haarnoja, Aurick Zhou, Pieter Abbeel and Sergey Levine · 2018
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“Design optimization of soft robots: A review of the state of the art”
Feifei Chen and Michael Wang · 2020
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“Hardware as Policy: Mechanical and Computational Co-Optimization using Deep Reinforcement Learning”
Tianjian Chen, Zhanpeng He and Matei Ciocarlie · 2020
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“Learning of Sub-optimal Gait Controllers for Magnetic Walking Soft Millirobots”
Utku Culha, Sinan Demir, Sebastian Trimpe and Metin Sitti · 2020
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“Understanding inchworm crawling for soft-robotics”
Benny Gamus, Lior Salem, Amir Gat and Yizhar Or · 2020
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“Reality-assisted evolution of soft robots through large-scale physical experimentation: A review”
Toby Howison, Simon Hauser, Josie Hughes and Fumiya Iida · 2020
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Ahmad Rafsanjani, Yuerou Zhang, Bangyuan Liu, Shmuel Rubinstein and Katia Bertoldi · 2018
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“Trajectory Optimization for Cable-Driven Soft Robot Locomotion”
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“Modeling and control of soft robots using the Koopman operator and model predictive control”
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“Reinforcement learning for improving agent design”
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“ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Robotics”
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“Automated shapeshifting for function recovery in damaged robots”
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“One Policy to Control Them All: Shared Modular Policies for Agent-Agnostic Control”
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“Scalable sim-to-real transfer of soft robot designs”
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“Generalized Tsallis entropy reinforcement learning and its application to soft mobile robots”
Kyungjae Lee, Sungyub Kim, Sungbin Lim, Sungjoon Choi, Mineui Hong, Jaein Kim, Yong-Lae Park and Songhwai Oh · 2020
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“A Survey of Multi-Task Deep Reinforcement Learning”
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“Shape Reconstruction of Soft-Body Manipulator: A Learning-Based Approach”
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“RoboGrammar: graph grammar for terrain-optimized robot design”
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“Evolution gym: A large-scale benchmark for evolving soft robots”
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“A Review of Physics Simulators for Robotic Applications”
Jack Collins, Shelvin Chand, Anthony Vanderkop and David Howard · 2021
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“Electronics-free pneumatic circuits for controlling soft-legged robots”
Dylan Drotman, Saurabh Jadhav, David Sharp, Christian Chan and Michael. Tolley · 2021
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“Review of machine learning methods in soft robotics”
Daekyum Kim, Sang-Hun Kim, Taekyoung Kim, Brian Kang, Minhyuk Lee, Wookeun Park, Subyeong Ku, DongWook Kim, Junghan Kwon and Hochang Lee · 2021
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“My Body is a Cage: The Role of Morphology in Graph-based Incompatible Control”
Vitaly Kurin, Maximilian Igl, Tim Rocktäschel, Wendelin Boehmer and Shimon Whiteson · 2021
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Pingchuan Ma, Tao Du, John Zhang, Kui Wu, Andrew Spielberg, Robert Katzschmann and Wojciech Matusik · 2021
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“Model-Free Reinforcement Learning with Ensemble for a Soft Continuum Robot Arm”
Ryota Morimoto, Satoshi Nishikawa, Ryuma Niiyama and Yasuo Kuniyoshi · 2021
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“From Bioinspiration to Computer Generation: Developments in Autonomous Soft Robot Design”
Joshua Pinskier and David Howard · 2021
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“Co-Learning of Task and Sensor Placement for Soft Robotics”
Andrew Spielberg, Alexander Amini, Lillian Chin, Wojciech Matusik and Daniela Rus · 2021
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“Learning Modular Robot Control Policies”
Julian Whitman, Matthew Travers and Howie Choset · 2021
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