3 accepted papers
Adaptation to damages and in-situ physical repairs is essential for long-term robot autonomy, yet challenging outside of narrowly defined and well-anticipated bounds. In this work we proprioceptively adapt to catastrophic damage in soft-actuated systems in under one minute. Architected materials are…
Closed-loop control remains an open challenge in soft robotics. The nonlinear responses of soft actuators under dynamic loading conditions limit the use of analytic models for soft robot control. Traditional methods of controlling soft robots underutilize their configuration spaces to avoid nonlinea
Data-driven control methods need to be sample-efficient and lightweight, especially when data acquisition and computational resources are limited---such as during learning on hardware. Most modern data-driven methods require large datasets and struggle with real-time updates of models, limiting thei…