Cover Image

A Unified Low-Dimensional Design Embedding for Joint Optimization of Shape, Material, and Actuation in Soft Robots

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Candiello, Vittorio, Mekkattu, Manuel, Michelis, Mike Y., Katzschmann, Robert K.
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

SORS: A Modular, High-Fidelity Simulator for Soft Robots
by: Mekkattu, Manuel, et al.
Published: (2025)

Sim-to-Real of Soft Robots with Learned Residual Physics
by: Gao, Junpeng, et al.
Published: (2024)

Simple Models, Real Swimming: Digital Twins for Tendon-Driven Underwater Robots
by: Michelis, Mike Y., et al.
Published: (2026)

Low Voltage Electrohydraulic Actuators for Untethered Robotics
by: Gravert, Stephan-Daniel, et al.
Published: (2023)

VQ-ACE: Efficient Policy Search for Dexterous Robotic Manipulation via Action Chunking Embedding
by: Yang, Chenyu, et al.
Published: (2024)

Decoupling Torque and Stiffness: A Unified Modeling and Control Framework for Antagonistic Artificial Muscles
by: Kazemipour, Amirhossein, et al.
Published: (2025)

Anisotropic Stiffness and Programmable Actuation for Soft Robots Enabled by an Inflated Rotational Joint
by: Wang, Sicheng, et al.
Published: (2024)

Monolithic Units: Actuation, Sensing, and Simulation for Integrated Soft Robot Design
by: Exley, Trevor, et al.
Published: (2025)

Sensorized Soft Skin for Dexterous Robotic Hands
by: Egli, Jana, et al.
Published: (2024)

Learning Soft Robotic Dynamics with Active Exploration
by: Zheng, Hehui, et al.
Published: (2025)

Stretchable Electrohydraulic Artificial Muscle for Full Motion Ranges in Musculoskeletal Antagonistic Joints
by: Kazemipour, Amirhossein, et al.
Published: (2024)

Parallel Simulation of Contact and Actuation for Soft Growing Robots
by: Gao, Yitian, et al.
Published: (2025)

A Soft Robotic Module with Pneumatic Actuation and Enhanced Controllability Using a Shape Memory Alloy Wire
by: Golchin, Mohammadnavid
Published: (2025)

An Open-Source Soft Robotic Platform for Autonomous Aerial Manipulation in the Wild
by: Bauer, Erik, et al.
Published: (2024)

Robotic Assistant: Completing Collaborative Tasks with Dexterous Vision-Language-Action Models
by: An, Boshi, et al.
Published: (2025)

Enhancing Kinematic Performances of Soft Continuum Robots for Magnetic Actuation
by: Wu, Zhiwei, et al.
Published: (2025)

Actuation Strategies for Underwater Jet‐Propelled Soft Robots
by: Angel Kitone, et al.
Published: (2026)

Nonlinear Spectral Modeling and Control of Soft-Robotic Muscles from Data
by: Bettini, Leonardo, et al.
Published: (2026)

Leveraging Pretrained Latent Representations for Few-Shot Imitation Learning on a Dexterous Robotic Hand
by: Liconti, Davide, et al.
Published: (2024)

Design, Actuation, and Functionalization of Untethered Soft Magnetic Robots with Life-Like Motions: A Review
by: Miao, Jiaqi, et al.
Published: (2023)

A Benchmark of Dexterity for Anthropomorphic Robotic Hands
by: Liconti, Davide, et al.
Published: (2026)

Soft Pneumatic Actuators for Soft Robotics: A Motion-Based Review of Actuation Mechanisms and Performance Trade-offs
by: Abboodi, Mohammed
Published: (2026)

Learning Robust Dexterous In-Hand Manipulation from Joint Sensors with Proprioceptive Transformer
by: Yao, Senlan, et al.
Published: (2026)

Swim2Real: VLM-Guided System Identification for Sim-to-Real Transfer
by: Qiu, Kevin, et al.
Published: (2026)

Learning Low-Dimensional Strain Models of Soft Robots by Looking at the Evolution of Their Shape with Application to Model-Based Control
by: Valadas, Ricardo, et al.
Published: (2024)

Design Optimizer for Soft Growing Robot Manipulators in Three-Dimensional Environments
by: Astar, Ahmet, et al.
Published: (2024)

ShapeForce: Low-Cost Soft Robotic Wrist for Contact-Rich Manipulation
by: Zhu, Jinxuan, et al.
Published: (2025)

Model-Based Capacitive Touch Sensing in Soft Robotics: Achieving Robust Tactile Interactions for Artistic Applications
by: Silva-Plata, Carolina, et al.
Published: (2025)

High-Speed, Scalable Sensor Readout for Dexterous Robotic Hands via Shift-Register Multiplexing
by: Kim, Jaehoon, et al.
Published: (2026)

Vision-Based Online Key Point Estimation of Deformable Robots
by: Zheng, Hehui, et al.
Published: (2022)

Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints
by: Toshimitsu, Yasunori, et al.
Published: (2023)

Self-Sensing Feedback Control of an Electrohydraulic Robotic Shoulder
by: Christoph, Clemens C., et al.
Published: (2024)

Geometric Design and Gait Co-Optimization for Soft Continuum Robots Swimming at Low and High Reynolds Numbers
by: Yang, Yanhao, et al.
Published: (2024)

Latent Action Diffusion for Cross-Embodiment Manipulation
by: Bauer, Erik, et al.
Published: (2025)

AquaROM: shape optimization pipeline for soft swimmers using parametric reduced order models
by: Dubied, Mathieu, et al.
Published: (2025)

A Dexterous and Compliant Gripper With Soft Hydraulic Actuation for Microgravity Manipulation
by: Su, William, et al.
Published: (2026)

Lightweight Learning from Actuation-Space Demonstrations via Flow Matching for Whole-Body Soft Robotic Grasping
by: Yang, Liudi, et al.
Published: (2025)

PokeFlex: Towards a Real-World Dataset of Deformable Objects for Robotic Manipulation
by: Obrist, Jan, et al.
Published: (2024)

Design and Dimensional Optimization of Legged Structures for Construction Robots
by: Liu, Xiao, et al.
Published: (2025)

Design Optimizer for Planar Soft-Growing Robot Manipulators
by: Stroppa, Fabio
Published: (2023)