28 citations · 59 across the 8 of their papers we have counts for
5 papers · 1 filter
Neural reservoir control of a soft bio-hybrid arm
Noel Naughton, Arman Tekinalp, Keshav Shivam +3
A long-standing engineering problem, the control of soft robots is difficult because of their highly non-linear, heterogeneous, anisotropic, and distributed nature. Here, bridging…
Topology, dynamics, and control of an octopus-analog muscular hydrostat
Arman Tekinalp, Noel Naughton, Seung-Hyun Kim +5
Muscular hydrostats, such as octopus arms or elephant trunks, lack bones entirely, endowing them with exceptional dexterity and reconfigurability. Key to their unmatched ability to…
Hierarchical control and learning of a foraging CyberOctopus
Chia-Hsien Shih, Noel Naughton, Udit Halder +5
Inspired by the unique neurophysiology of the octopus, we propose a hierarchical framework that simplifies the coordination of multiple soft arms by decomposing control into high-l…
Controlling a CyberOctopus Soft Arm with Muscle-like Actuation
Heng-Sheng Chang, Udit Halder, Ekaterina Gribkova +4
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…
Elastica: A compliant mechanics environment for soft robotic control
Noel Naughton, Jiarui Sun, Arman Tekinalp +2
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodol…