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Closing the Control Loop with Time-Variant Embedded Soft Sensors and Recurrent Neural Networks
Embedded soft sensors can significantly impact the design and control of soft-bodied robots. Although there have been considerable …
Thomas George Thuruthel, Paul Gardner, Fumiya Iida
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Learning-Based Damage Recovery for Healable Soft Electronic Skins
Natural agents display various adaptation strategies to damages, including damage assessment, localization, healing, and recalibration. …
Seppe Terryn, David Hardman, Thomas George Thuruthel, Ellen Roels, Fatemeh Sahraeeazartamar, Fumiya Iida
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Manipulation of free-floating objects using Faraday flows and deep reinforcement learning
The ability to remotely control a free-floating object through surface flows on a fluid medium can facilitate numerous applications. …
David Hardman, Thomas George Thuruthel, Fumiya Iida
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Self-healing ionic gelatin/glycerol hydrogels for strain sensing applications
Soft sensing technologies have the potential to revolutionize wearable devices, haptic interfaces and robotic systems. However, there …
David Hardman, Thomas George Thuruthel, Fumiya Iida
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First-Order Dynamic Modeling and Control of Soft Robots
Modeling of soft robots is typically performed at the static level or at a second-order fully dynamic level. Controllers developed upon …
Thomas George Thuruthel, Federico Renda, Fumiya Iida
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Using Redundant and Disjoint Time-Variant Soft Robotic Sensors for Accurate Static State Estimation
Soft robotic sensors have been limited in their applications due to their highly nonlinear time variant behavior. Current studies are …
Thomas George Thuruthel, Josie Hughes, Antonia Georgopoulou, Frank Clemens, Fumiya Iida
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Electronic skins and machine learning for intelligent soft robots
Soft robots have garnered interest for real-world applications because of their intrinsic safety embedded at the material level. These …
Benjamin Shih, Dylan Shah, Jinxing Li, Thomas George Thuruthel, Yong-Lae Park, Fumiya Iida, Zhenan Bao, Rebecca Kramer-Bottiglio, Michael T Tolley
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Improving Robotic Cooking Using Batch Bayesian Optimization
ASD.
Kai Junge, Josie Hughes, Thomas George Thuruthel, Fumiya Iida
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Soft robot perception using embedded soft sensors and recurrent neural networks
Thomas George Thuruthel, Benjamin Shih, Cecilia Laschi, Michael T Tolley
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