Most research on the manipulation of deformable objects focuses on lightweight systems with negligible mechanical response, effectively restricting attention to quasi-static regimes. This assumption excludes a broad class of practically relevant objects, such as hoses, pipes, and wiring harnesses, whose dynamics cannot...
SoRoMoX (Soft Robot Models in JAX), a fully numerical, JIT-compilable Python/JAX framework that runs directly on GPUs, is end-to-end differentiable with respect to states, inputs, and parameters, and is the first rod/strain-based soft-robot modeling framework that runs directly on GPUs.
Maximilian Stölzle, Solange Gribonval, D. Feliú-Talegon et al.· 1 citation
Controlling the shape of a continuum soft robot typically requires an accurate dynamic model and actuation of all degrees of freedom. We show that regulating only the actuated coordinates, through collocated shape control, achieves provably stable convergence of those coordinates and, under an explicit compatibility co...
Pietro Pustina, E. Shahabi, D. Feliú-Talegon et al.· 0 citations
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