Real2Sim2Real Transfer for Control of Cable-driven Robots via a Differentiable Physics Engine

no code implementations • 13 Sep 2022 • Kun Wang, William R. Johnson III, Shiyang Lu, Xiaonan Huang, Joran Booth, Rebecca Kramer-Bottiglio, Mridul Aanjaneya, Kostas Bekris

This strategy is based on a differentiable physics engine that can be trained given limited data from a real robot.

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6N-DoF Pose Tracking for Tensegrity Robots

no code implementations • 29 May 2022 • Shiyang Lu, William R. Johnson III, Kun Wang, Xiaonan Huang, Joran Booth, Rebecca Kramer-Bottiglio, Kostas Bekris

To ensure that the pose estimates of rigid elements are physically feasible, i. e., they are not resulting in collisions between rods or with the environment, physical constraints are introduced during the optimization.

Pose Estimation Pose Tracking