{"id":3431,"date":"2026-02-12T13:47:25","date_gmt":"2026-02-12T13:47:25","guid":{"rendered":"http:\/\/www.labren.org\/mm\/?p=3431"},"modified":"2026-02-12T13:47:26","modified_gmt":"2026-02-12T13:47:26","slug":"%f0%9f%9a%80-%f0%9d%97%9c%f0%9d%97%9d%f0%9d%97%a5%f0%9d%97%a5-%f0%9d%9f%ae%f0%9d%9f%ac%f0%9d%9f%ae%f0%9d%9f%b2-%f0%9d%97%95%f0%9d%97%b6%f0%9d%97%bc%f0%9d%97%b6%f0%9d%97%bb%f0%9d%98%80%f0%9d%97%bd","status":"publish","type":"post","link":"http:\/\/www.labren.org\/mm\/news\/%f0%9f%9a%80-%f0%9d%97%9c%f0%9d%97%9d%f0%9d%97%a5%f0%9d%97%a5-%f0%9d%9f%ae%f0%9d%9f%ac%f0%9d%9f%ae%f0%9d%9f%b2-%f0%9d%97%95%f0%9d%97%b6%f0%9d%97%bc%f0%9d%97%b6%f0%9d%97%bb%f0%9d%98%80%f0%9d%97%bd\/","title":{"rendered":"\ud83d\ude80 \ud835\udddc\ud835\udddd\ud835\udde5\ud835\udde5 \ud835\udfee\ud835\udfec\ud835\udfee\ud835\udff2: \ud835\uddd5\ud835\uddf6\ud835\uddfc\ud835\uddf6\ud835\uddfb\ud835\ude00\ud835\uddfd\ud835\uddf6\ud835\uddff\ud835\uddf2\ud835\uddf1 \ud835\uddda\ud835\uddff\ud835\uddee\ud835\ude03\ud835\uddf6\ud835\ude01\ud835\ude06-\ud835\uddd4\ud835\ude04\ud835\uddee\ud835\uddff\ud835\uddf2 \ud835\udde6\ud835\uddfc\ud835\uddf3\ud835\ude01 \ud835\udde5\ud835\uddfc\ud835\uddef\ud835\uddfc\ud835\ude01\ud835\ude00! \ud83e\udd16\ud83e\udea2"},"content":{"rendered":"\n

Thrilled to share our latest The International Journal of Robotics Research (IJRR)<\/a> work on enabling \ud835\uddf4\ud835\uddff\ud835\uddee\ud835\ude03\ud835\uddf6\ud835\ude01\ud835\ude06\u2011\ud835\uddee\ud835\ude04\ud835\uddee\ud835\uddff\ud835\uddf2 \ud835\uddf0\ud835\uddfc\ud835\uddfb\ud835\ude01\ud835\uddff\ud835\uddfc\ud835\uddf9 for \ud835\uddfd\ud835\uddfc\ud835\uddff\ud835\ude01\ud835\uddee\ud835\uddef\ud835\uddf9\ud835\uddf2 \ud835\uddf0\ud835\uddee\ud835\uddef\ud835\uddf9\ud835\uddf2\u2011\ud835\uddf1\ud835\uddff\ud835\uddf6\ud835\ude03\ud835\uddf2\ud835\uddfb \ud835\ude00\ud835\uddfc\ud835\uddf3\ud835\ude01 \ud835\ude00\ud835\uddf9\ud835\uddf2\ud835\uddfb\ud835\uddf1\ud835\uddf2\ud835\uddff \ud835\uddff\ud835\uddfc\ud835\uddef\ud835\uddfc\ud835\ude01\ud835\ude00 \u2014 using \ud835\uddfc\ud835\uddfb\ud835\uddf9\ud835\ude06 \ud835\uddee \ud835\ude00\ud835\uddf6\ud835\uddfb\ud835\uddf4\ud835\uddf9\ud835\uddf2 \ud835\udddc\ud835\udde0\ud835\udde8 and a powerful \ud835\uddff\ud835\uddfc\ud835\uddef\ud835\uddfc\ud835\uddfd\ud835\uddf5\ud835\ude06\ud835\ude00\ud835\uddf6\ud835\uddf0\ud835\uddee\ud835\uddf9 simulation\u2011driven framework.<\/p>\n\n\n\n

Soft robots are lightweight and flexible, but their high aspect ratios make them \ud835\ude26\ud835\ude39\ud835\ude35\ud835\ude33\ud835\ude26\ud835\ude2e\ud835\ude26\ud835\ude2d\ud835\ude3a sensitive to gravity, causing passive deformation that traditional kinematics just can\u2019t handle. This motivated us to rethink how soft robots can \ud835\ude34\ud835\ude26\ud835\ude2f\ud835\ude34\ud835\ude26 and \ud835\ude24\ud835\ude30\ud835\ude2e\ud835\ude31\ud835\ude26\ud835\ude2f\ud835\ude34\ud835\ude22\ud835\ude35\ud835\ude26 for gravity \u2014 without bulky sensors or complex hardware.<\/p>\n\n\n\n

\ud83e\udde0\u2728 \ud835\uddea\ud835\uddf5\ud835\uddee\ud835\ude01 \ud835\ude04\ud835\uddf2 \ud835\uddf1\ud835\uddf2\ud835\ude03\ud835\uddf2\ud835\uddf9\ud835\uddfc\ud835\uddfd\ud835\uddf2\ud835\uddf1:<\/p>\n\n\n\n

A \ud835\uddef\ud835\uddf6\ud835\uddfc\u2011\ud835\uddf6\ud835\uddfb\ud835\ude00\ud835\uddfd\ud835\uddf6\ud835\uddff\ud835\uddf2\ud835\uddf1 \ud835\uddff\ud835\uddf2\ud835\uddee\ud835\uddf9\ud835\udfee\ud835\ude00\ud835\uddf6\ud835\uddfa\ud835\udfee\ud835\uddff\ud835\uddf2\ud835\uddee\ud835\uddf9 \ud835\uddf0\ud835\uddfc\ud835\uddfb\ud835\ude01\ud835\uddff\ud835\uddfc\ud835\uddf9 \ud835\uddee\ud835\uddff\ud835\uddf0\ud835\uddf5\ud835\uddf6\ud835\ude01\ud835\uddf2\ud835\uddf0\ud835\ude01\ud835\ude02\ud835\uddff\ud835\uddf2 that:<\/p>\n\n\n\n

\ud83d\udd39 Streams real\u2011world IMU orientation into a real\u2011time and robust SOFA simulation<\/p>\n\n\n\n

\ud83d\udd39 Dynamically reorients virtual gravity to mirror reality<\/p>\n\n\n\n

\ud83d\udd39 Uses QP optimization to compute joint\u2011level compensation<\/p>\n\n\n\n

\ud83d\udd39 Executes compensation in both simulation and the physical robot<\/p>\n\n\n\n

All of this \u2014 using just \ud835\uddfc\ud835\uddfb\ud835\uddf2 \ud835\udddc\ud835\udde0\ud835\udde8. No strain sensors. No cameras. No expensive reconstruction systems.<\/p>\n\n\n\n

\ud83c\udfaf \ud835\uddde\ud835\uddf2\ud835\ude06 \ud835\udde5\ud835\uddf2\ud835\ude00\ud835\ude02\ud835\uddf9\ud835\ude01\ud835\ude00:<\/p>\n\n\n\n

\u2705 >99% compensation recovery in static tests<\/p>\n\n\n\n

\u2705 ~94% recovery in low\u2011motion dynamic tests<\/p>\n\n\n\n

\u2705 Demonstrated on different two-segment cable\u2011driven soft robots<\/p>\n\n\n\n

\ud83d\udca1 \ud835\uddea\ud835\uddf5\ud835\ude06 \ud835\uddf6\ud835\ude01 \ud835\uddfa\ud835\uddee\ud835\ude01\ud835\ude01\ud835\uddf2\ud835\uddff\ud835\ude00:<\/p>\n\n\n\n

This work shows that soft robots can maintain \ud835\ude00\ud835\ude01\ud835\uddee\ud835\uddef\ud835\uddf9\ud835\uddf2, \ud835\uddf0\ud835\uddfc\ud835\uddfb\ud835\ude00\ud835\uddf6\ud835\ude00\ud835\ude01\ud835\uddf2\ud835\uddfb\ud835\ude01 \ud835\uddf0\ud835\uddfc\ud835\uddfb\ud835\uddf3\ud835\uddf6\ud835\uddf4\ud835\ude02\ud835\uddff\ud835\uddee\ud835\ude01\ud835\uddf6\ud835\uddfc\ud835\uddfb\ud835\ude00 \ud835\ude02\ud835\uddfb\ud835\uddf1\ud835\uddf2\ud835\uddff \ud835\uddf0\ud835\uddf5\ud835\uddee\ud835\uddfb\ud835\uddf4\ud835\uddf6\ud835\uddfb\ud835\uddf4 \ud835\uddf4\ud835\uddff\ud835\uddee\ud835\ude03\ud835\uddf6\ud835\ude01\ud835\ude06 by integrating \ud835\ude03\ud835\uddf6\ud835\uddff\ud835\ude01\ud835\ude02\ud835\uddee\ud835\uddf9 \ud835\ude00\ud835\uddf2\ud835\uddfb\ud835\ude00\ud835\uddf6\ud835\uddfb\ud835\uddf4 + \ud835\ude00\ud835\uddf6\ud835\uddfa\ud835\ude02\ud835\uddf9\ud835\uddee\ud835\ude01\ud835\uddf6\ud835\uddfc\ud835\uddfb\u2011\ud835\uddf1\ud835\uddff\ud835\uddf6\ud835\ude03\ud835\uddf2\ud835\uddfb \ud835\uddf6\ud835\uddfb\ud835\ude03\ud835\uddf2\ud835\uddff\ud835\ude00\ud835\uddf2 \ud835\uddf0\ud835\uddfc\ud835\uddfa\ud835\uddfd\ud835\ude02\ud835\ude01\ud835\uddee\ud835\ude01\ud835\uddf6\ud835\uddfc\ud835\uddfb. It reduces reliance on physical sensors and opens a pathway toward \ud835\ude00\ud835\uddf0\ud835\uddee\ud835\uddf9\ud835\uddee\ud835\uddef\ud835\uddf9\ud835\uddf2, \ud835\uddf4\ud835\uddf2\ud835\uddfb\ud835\uddf2\ud835\uddff\ud835\uddee\ud835\uddf9\ud835\uddf6\ud835\ude07\ud835\uddee\ud835\uddef\ud835\uddf9\ud835\uddf2 \ud835\uddf4\ud835\uddff\ud835\uddee\ud835\ude03\ud835\uddf6\ud835\ude01\ud835\ude06\u2011\ud835\uddee\ud835\ude04\ud835\uddee\ud835\uddff\ud835\uddf2 \ud835\ude00\ud835\uddfc\ud835\uddf3\ud835\ude01 \ud835\uddff\ud835\uddfc\ud835\uddef\ud835\uddfc\ud835\ude01\ud835\ude00.<\/p>\n\n\n\n

\ud83c\udf31 \ud835\uddea\ud835\uddf5\ud835\uddee\ud835\ude01\u2019\ud835\ude00 \ud835\uddfb\ud835\uddf2\ud835\ude05\ud835\ude01?<\/p>\n\n\n\n

We\u2019re exploring how to extend this architecture to virtualizable external force sensing and richer environmental interactions.<\/p>\n\n\n\n

Special shoutout to the team \u2014<\/p>\n\n\n\n

Jiewen Lai<\/a>, Tian-Ao Ren<\/a> (co\u2011first authors),<\/p>\n\n\n\n

Pengfei YE, Yanjun Liu, Jingyao Sun, Hongliang Ren<\/a> \u2014<\/p>\n\n\n\n

for making this project possible.<\/p>\n\n\n\n

\ud83d\udd17 Paper link: https:\/\/lnkd.in\/gMgwCfvf<\/p>\n\n\n\n

\"diagram\"<\/figure>\n","protected":false},"excerpt":{"rendered":"

Thrilled to share our latest The International Journal of Robotics Research (IJRR) work on enabling \ud835\uddf4\ud835\uddff\ud835\uddee\ud835\ude03\ud835\uddf6\ud835\ude01\ud835\ude06\u2011\ud835\uddee\ud835\ude04\ud835\uddee\ud835\uddff\ud835\uddf2 \ud835\uddf0\ud835\uddfc\ud835\uddfb\ud835\ude01\ud835\uddff\ud835\uddfc\ud835\uddf9 for \ud835\uddfd\ud835\uddfc\ud835\uddff\ud835\ude01\ud835\uddee\ud835\uddef\ud835\uddf9\ud835\uddf2 \ud835\uddf0\ud835\uddee\ud835\uddef\ud835\uddf9\ud835\uddf2\u2011\ud835\uddf1\ud835\uddff\ud835\uddf6\ud835\ude03\ud835\uddf2\ud835\uddfb \ud835\ude00\ud835\uddfc\ud835\uddf3\ud835\ude01 \ud835\ude00\ud835\uddf9\ud835\uddf2\ud835\uddfb\ud835\uddf1\ud835\uddf2\ud835\uddff \ud835\uddff\ud835\uddfc\ud835\uddef\ud835\uddfc\ud835\ude01\ud835\ude00 \u2014 using \ud835\uddfc\ud835\uddfb\ud835\uddf9\ud835\ude06 \ud835\uddee \ud835\ude00\ud835\uddf6\ud835\uddfb\ud835\uddf4\ud835\uddf9\ud835\uddf2 \ud835\udddc\ud835\udde0\ud835\udde8 and a powerful \ud835\uddff\ud835\uddfc\ud835\uddef\ud835\uddfc\ud835\uddfd\ud835\uddf5\ud835\ude06\ud835\ude00\ud835\uddf6\ud835\uddf0\ud835\uddee\ud835\uddf9 simulation\u2011driven framework. Soft robots are lightweight and flexible, but their high aspect ratios make them \ud835\ude26\ud835\ude39\ud835\ude35\ud835\ude33\ud835\ude26\ud835\ude2e\ud835\ude26\ud835\ude2d\ud835\ude3a sensitive\u2026 Continue reading<\/a><\/p>\n","protected":false},"author":17,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"ngg_post_thumbnail":0,"footnotes":""},"categories":[4],"tags":[],"class_list":["post-3431","post","type-post","status-publish","format-standard","hentry","category-news"],"_links":{"self":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/3431","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/users\/17"}],"replies":[{"embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/comments?post=3431"}],"version-history":[{"count":1,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/3431\/revisions"}],"predecessor-version":[{"id":3432,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/3431\/revisions\/3432"}],"wp:attachment":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/media?parent=3431"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/categories?post=3431"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/tags?post=3431"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}