12 citations · 45 across the 11 of their papers we have counts for
11 papers
Learning, locomotion, and navigation of soft synthetic snakes in three-dimensional, heterogeneous environments
Xiaotian Zhang, Ali Albazroun, Tixian Wang +3
Limbless terrestrial animals exhibit exceptional locomotor versatility and control, currently unmatched by engineered counterparts. Here, we introduce a computational framework tha…
Digital twins for the design, interactive control, and deployment of modular, fiber-reinforced soft continuum arms
Seung Hyun Kim, Jiamiao Guo, Arman Tekinalp +9
Soft continuum arms (SCAs) promise versatile manipulation through mechanical compliance, for assistive devices, agriculture, search applications, or surgery. However, the strong no…
A Neural Network-based Framework for Fast and Smooth Posture Reconstruction of a Soft Continuum Arm
Tixian Wang, Heng-Sheng Chang, Seung Hyun Kim +9
A neural network-based framework is developed and experimentally demonstrated for the problem of estimating the shape of a soft continuum arm (SCA) from noisy measurements of the p…
Neural Models and Algorithms for Sensorimotor Control of an Octopus Arm
Tixian Wang, Udit Halder, Ekaterina Gribkova +3
In this article, a biophysically realistic model of a soft octopus arm with internal musculature is presented. The modeling is motivated by experimental observations of sensorimoto…
Modeling the Neuromuscular Control System of an Octopus Arm
Tixian Wang, Udit Halder, Ekaterina Gribkova +2
The octopus arm is a neuromechanical system that involves a complex interplay between peripheral nervous system (PNS) and arm musculature. This makes the arm capable of carrying ou…
A Sensory Feedback Control Law for Octopus Arm Movements
Tixian Wang, Udit Halder, Ekaterina Gribkova +3
The main contribution of this paper is a novel sensory feedback control law for an octopus arm. The control law is inspired by, and helps integrate, several observations made by bi…
Control-oriented Modeling of Bend Propagation in an Octopus Arm
Tixian Wang, Udit Halder, Ekaterina Gribkova +2
Bend propagation in an octopus arm refers to a stereotypical maneuver whereby an octopus pushes a bend (localized region of large curvature) from the base to the tip of the arm. Be…
Optimal Control of a Soft CyberOctopus Arm
Tixian Wang, Udit Halder, Heng-Sheng Chang +2
In this paper, we use the optimal control methodology to control a flexible, elastic Cosserat rod. An inspiration comes from stereotypical movement patterns in octopus arms, which…
Centralized model predictive control with distributed adaptation
Prabhat K. Mishra, Tixian Wang, Mattia Gazzola +1
A centralized model predictive controller (MPC), which is unaware of local uncertainties, for an affine discrete time nonlinear system is presented. The local uncertainties are ass…
Bio-inspired Learning of Sensorimotor Control for Locomotion
Tixian Wang, Amirhossein Taghvaei, Prashant G. Mehta
This paper presents a bio-inspired central pattern generator (CPG)-type architecture for learning optimal maneuvering control of periodic locomotory gaits. The architecture is pres…
Q-learning for POMDP: An application to learning locomotion gaits
Tixian Wang, Amirhossein Taghvaei, Prashant G. Mehta
This paper presents a Q-learning framework for learning optimal locomotion gaits in robotic systems modeled as coupled rigid bodies. Inspired by prevalence of periodic gaits in bio…