3 accepted papers
Simulation is a key technology in robotics as it enables the generation of environmental data and testing scenarios for development and maintenance purposes. However, simulations are an imperfect representation of the real-world and the so-called sim-to-real gap between simulation and reality hinder…
In this paper, we present a new locomotion control method for soft robot snakes. Inspired by biological snakes, our control architecture is composed of two key modules: A reinforcement learning (RL) module for achieving adaptive goal-tracking behaviors with changing goals, and a central pattern gene…
In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that accounts for internal pressure forces, as well as the effect…