Differentiable Simulation

Design and Control of Soft Robots Using Differentiable Simulation

A review on the use of differentiable simulation for computational design and control problems in soft robotics.

Automated Routing of Muscle Fibers for Soft Robots

A computational approach for routing artificial muscle actuators through hyperelastic soft robots, in order to achieve a desired deformation behavior.

ADD: Analytically Differentiable Dynamics for Multi-Body Systems with Frictional Contact

Differentiable dynamics for frictional contact handling in flexible multibody systems.

Designing Robotically‐Constructed Metal Frame Structures

A computational technique for the design of structurally‐sound, architectural-scale metal frame structures, tailored for robotic fabrication.

MakeSense: Automated Sensor Design for Proprioceptive Soft Robots

A computational method for augmenting soft robots with proprioceptive sensing capabilities.

X-CAD: Optimizing CAD Models with Extended Finite Elements

A novel generic shape optimization method for CAD models based on the eXtended Finite Element Method (XFEM).

Vibration-minimizing Motion Retargeting for Robotic Characters

An optimization-based, dynamics-aware motion retargeting system that adjusts an input motion such that visually salient low-frequency, large amplitude vibrations are suppressed.