In this review paper, we are interested in the models and algorithms that allow generic
simulation and control of a soft robot. First, we start with a quick overview of modeling …

We present a differentiable dynamics solver that is able to handle frictional contact for rigid
and deformable objects within a unified framework. Through a principled mollification of …

Recently, deep reinforcement learning (DRL) has attracted great attention in designing
controllers for physics-based characters. Despite the recent success of DRL, the learned …

We present a method for differentiable simulation of soft articulated bodies. Our work
enables the integration of differentiable physical dynamics into gradient-based pipelines …

Compliance is a defining characteristic of biological systems. Understanding how to exploit
soft materials as effectively as living creatures do is consequently a fundamental challenge …

We present a computational tool for fabrication-oriented design of flexible rod meshes.
Given a deformable surface and a set of deformed poses as input, our method automatically …

We present a novel and general framework for the design and control of underwater soft-
bodied animals. The whole body of an animal consisting of soft tissues is modeled by …

Deformation Capture and Modeling of Soft Objects Page 1 Edit this text to create a Heading ▪
This subtitle is 20 points ▪ Bullets are blue ▪ They have 110% line spacing, 2 points before & …

Inverse shape design for elastic objects greatly eases the design efforts by letting users
focus on desired target shapes without thinking about elastic deformations. Solving this …

In this paper we present a physics-based framework for simulation and control of human-like
skeleton-driven soft body characters. We couple the skeleton dynamics and the soft body …