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A review on tensegrity structures-based robots
Human-robot coexistence has become an important trend of the new generation of robots.
Both rigid structures and soft structures have their own limitations in certain application …
Both rigid structures and soft structures have their own limitations in certain application …
[HTML][HTML] Recent advances in deep reinforcement learning applications for solving partially observable markov decision processes (pomdp) problems: Part 1 …
The first part of a two-part series of papers provides a survey on recent advances in Deep
Reinforcement Learning (DRL) applications for solving partially observable Markov decision …
Reinforcement Learning (DRL) applications for solving partially observable Markov decision …
Reinforcement learning on variable impedance controller for high-precision robotic assembly
Precise robotic manipulation skills are desirable in many industrial settings, reinforcement
learning (RL) methods hold the promise of acquiring these skills autonomously. In this …
learning (RL) methods hold the promise of acquiring these skills autonomously. In this …
Deep reinforcement learning for robotic assembly of mixed deformable and rigid objects
Reinforcement learning for assembly tasks can yield powerful robot control algorithms for
applications that are challenging or even impossible for “conventional” feedback control …
applications that are challenging or even impossible for “conventional” feedback control …
Rolling soft membrane-driven tensegrity robots
We present a methodology for designing, fabricating, and controlling rolling membrane-
driven tensegrity robots. This methodology is enabled by pneumatic membrane actuators …
driven tensegrity robots. This methodology is enabled by pneumatic membrane actuators …
[HTML][HTML] Deep neural networks for form-finding of tensegrity structures
Analytical paradigms have limited conventional form-finding methods of tensegrities;
therefore, an innovative approach is urgently needed. This paper proposes a new form …
therefore, an innovative approach is urgently needed. This paper proposes a new form …
Adaptive tensegrity locomotion: Controlling a compliant icosahedron with symmetry-reduced reinforcement learning
Tensegrity robots, which are prototypical examples of hybrid soft–rigid robots, exhibit
dynamical properties that provide ruggedness and adaptability. They also bring about …
dynamical properties that provide ruggedness and adaptability. They also bring about …
Elastostatic modeling of multi-link flexible manipulator based on two-dimensional dual-triangle tensegrity mechanism
The paper deals with the elastostatic modeling of a multi-link flexible manipulator based on
the two-dimensional (2D) dual-triangle tensegrity mechanism and its nonlinear behavior …
the two-dimensional (2D) dual-triangle tensegrity mechanism and its nonlinear behavior …
Shape recognition of a tensegrity with soft sensor threads and artificial muscles using a recurrent neural network
This letter proposes a novel method to accomplish shape recognition by utilizing a tensegrity
structure with a soft sensor via a recurrent neural network (RNN). The combination of soft …
structure with a soft sensor via a recurrent neural network (RNN). The combination of soft …
Real2sim2real transfer for control of cable-driven robots via a differentiable physics engine
Tensegrity robots, composed of rigid rods and flexible cables, exhibit high strength-to-weight
ratios and significant deformations, which enable them to navigate unstructured terrains and …
ratios and significant deformations, which enable them to navigate unstructured terrains and …