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cs.RO2022★ 1 cited
Toward smart composites: small-scale, untethered prediction and control for soft sensor/actuator systems
Sarah Aguasvivas Manzano, Vani Sundaram, Artemis Xu +4
We present formulation and open-source tools to achieve in-material model predictive control of sensor/actuator systems using learned forward kinematics and on-device computation.…
cs.RO2021
High-bandwidth nonlinear control for soft actuators with recursive network models
Sarah Aguasvivas Manzano, Patricia Xu, Khoi Ly +2
We present a high-bandwidth, lightweight, and nonlinear output tracking technique for soft actuators that combines parsimonious recursive layers for forward output predictions and…