Soft robots' flexibility and compliance give them the potential to outperform traditional rigid-
bodied robots while performing multiple tasks in unexpectedly changing environments and …

Brain-body co-design, which involves the collaborative design of control strategies and
morphologies, has emerged as a promising approach to enhance a robot's adaptability to its …

To steer a soft robot precisely in an unconstructed environment with minimal collision
remains an open challenge for soft robots. When the environments are unknown, prior …

Control policies for soft robot arms typically assume quasi-static motion or require a hand-
designed motion plan. To achieve real-time planning and control for tasks requiring highly …

Data-driven methods with deep neural networks demonstrate promising results for accurate
modeling in soft robots. However, deep neural network models rely on voluminous data in …

Aquatic locomotion is a classic fluid-structure interaction (FSI) problem of interest to
biologists and engineers. Solving the fully coupled FSI equations for incompressible Navier …

This work provides a complete framework for the simulation, co-optimization, and sim-to-real
transfer of the design and control of soft legged robots. Soft robots have “mechanical …

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 …

We explore the idea of robotic mechanisms that can shift between soft and rigid states, with
the long-term goal of creating robots that marry the flexibility and robustness of soft robots …

Soft robotics has the potential to revolutionize robotic locomotion, in particular, soft robotic
swimmers offer a minimally invasive and adaptive solution to explore and preserve our …