3 accepted papers
We present Aquarium, a differentiable fluid-structure interaction solver for robotics that offers stable simulation, accurately coupled fluid-robot physics in two dimensions, and full differentiability with respect to fluid and robot states and parameters. Aquarium achieves stable simulation with ac…
Due to their inherent compliance, soft robots are more versatile than rigid linked robots when they interact with their environment, such as object manipulation or biomimetic motion, and are considered to be the key element in introducing robots to everyday environments. Although various soft roboti…
Soft-bodied robots are designed to work in the physical world with a high compliance, while most of them lack in highly dynamic motion. In this paper, we present a soft-bodied jumping robot, which leverages its body's elasticity to achieve a highly dynamic passive bouncing motion after an active jum…