Controlling a CyberOctopus Soft Arm with Muscle-like Actuation
University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；Coordinated Science Laboratory（协调科学实验室）；National Center for Supercomputing Applications（国家超级计算应用中心）；Carl R. Woese Institute for Genomic Biology（卡尔·R·沃斯基因组生物学研究所）
This paper presents an application of the energy shaping methodology to control a flexible, elastic Cosserat rod model of a single octopus arm. The novel contributions of this work are two-fold: (i) a control-oriented modeling of the anatomically realistic internal muscular architecture of an octopus arm; and (ii) the integration of these muscle models into the energy shaping control methodology. The control-oriented modeling takes inspiration in equal parts from theories of nonlinear elasticity and energy shaping control. By introducing a stored energy function for muscles, the difficulties associated with explicitly solving the matching conditions of the energy shaping methodology are avoided. The overall control design problem is posed as a bilevel optimization problem. Its solution is obtained through iterative algorithms. The methodology is numerically implemented and demonstrated in a full-scale dynamic simulation environment Elastica. Two bio-inspired numerical experiments involving the control of octopus arms are reported.
University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；Coordinated Science Laboratory（协调科学实验室）；National Center for Supercomputing Applications（国家超级计算应用中心）；Carl R. Woese Institute for Genomic Biology（卡尔·R·沃斯基因组生物学研究所）
Coordinated Science Laboratory（协调科学实验室）；National Center for Supercomputing Applications（国家超级计算应用中心）；Carl R. Woese Institute for Genomic Biology（卡尔·R·沃斯基因组生物学研究所）；University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
Muscle Coactivation in the Sky: Geometry and Pareto Optimality of Energy vs. Aerodynamic Promptness and Multirotors as Variable Stiffness Actuators
Robotics and Mechatronics Department, Electrical Engineering, Mathematics, and Computer Science (EEMCS) Faculty（代尔夫特理工大学机器人与机电系）；Department of Computer, Control and Management Engineering（罗马萨皮恩扎大学计算机、控制与管理工程系）
Sim-to-Real Transfer for Muscle-Actuated Robots via Generalized Actuator Networks
Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）；Boston University（波士顿大学）；University of Oxford（牛津大学）；University of Alberta（阿尔伯塔大学）；Alberta Machine Intelligence Institute (Amii)（阿尔伯塔机器智能研究所（Amii））
Imitation Learning for Adaptive Control of a Virtual Soft Exoglove
Department of Informatics, King’s College London（信息学院，伦敦国王学院）；MyoLab；Harvard Medical School（哈佛医学院）；Spaulding Rehabilitation Hospital（斯波林康复医院）；Department of Bioengineering, Faculty of Engineering, Imperial College London（生物工程系，伦敦帝国理工学院工程学院）；John A. Paulson School of Engineering and Applied Sciences, Harvard University（哈佛大学约翰·A·保罗森工程与应用科学学院）
Development of a 15-Degree-of-Freedom Bionic Hand with Cable-Driven Transmission and Distributed Actuation
Department of Computer Science and Engineering, Shanghai Jiao Tong University（计算机科学与工程系，上海交通大学）；Department of Engineering Mechanics, Shanghai Jiao Tong University（工程力学系，上海交通大学）；Department of Automation, Shanghai Jiao Tong University（自动化系，上海交通大学）；Department of Automation, Key Laboratory of System Control and Information Processing of Ministry of Education, Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education, Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai Jiao Tong University（自动化系，教育部系统控制与信息处理重点实验室，教育部海洋智能设备与系统重点实验室，智能控制与管理工程研究中心，上海交通大学）
MSK-Bench: Benchmarking Full-Body Musculoskeletal Motor Control Across Tasks, Control Paradigms, and Physiological Metrics
Institute for AI Industry Research (AIR), Tsinghua University（清华大学人工智能产业研究院）；The University of Hong Kong (HKU)（香港大学）；Institute for Interdisciplinary Information Sciences (IIIS), Tsinghua University（清华大学交叉信息研究院）；School of Aerospace Engineering, Tsinghua University（清华大学航天航空学院）；Peking University (PKU)（北京大学）
Miniaturized Circuitry for Capacitive Self-sensing and Closed-loop Control of Soft Electrostatic Transducers
University of Colorado（科罗拉多大学）；Materials Science and Engineering Program, University of Colorado（科罗拉多大学材料科学与工程项目）；Department of Electrical Engineering, University of Colorado（科罗拉多大学电气工程系）；Department of Computer Science, University of Colorado（科罗拉多大学计算机科学系）
Shenzhen Key Lab of Advanced Motion Control Technology and Modern Automation Equipment（深圳先进运动控制技术及现代自动化装备重点实验室）；School of Intelligence Science and Engineering（智能科学与工程学院）；College of Artificial Intelligence（人工智能学院）；Harbin Institute of Technology（哈尔滨工业大学）；School of Mechanical and Aerospace Engineering（机械与航空航天工程学院）；Nanyang Technological University（南洋理工大学）；School of Robotics and Automation（机器人与自动化学院）；Nanjing University（南京大学）；School of Advanced Engineering（先进工程学院）；Great Bay University（大贝大学）；Center for Precision Engineering（精密工程中心）；Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences（深圳先进技术研究院，中国科学院）
Continuous and large-scale: ELEANOR, the soft architected arm inspired by the elephant trunk
Soft BioRobotics Perception Laboratory, Istituto Italiano di Tecnologia（软生物机器人感知实验室，意大利理工学院）；Department of Autonomous Systems Engineering, Korea Aerospace University（自主系统工程系，韩国航空航天大学）；Photocentric Ltd.（Photocentric公司）；BRAIR lab, The BioRobotics Institute, Scuola Superiore Sant’Anna（BRAIR实验室，生物机器人研究所，圣安娜高等学院）；Laboratory of Artificial and Natural Evolution, Department of Genetics and Evolution, University of Geneva（人工与自然进化实验室，基因与进化系，日内瓦大学）
