1 citations · 1 across the 4 of their papers we have counts for
5 papers
Offset-free Model Predictive Control: A Ball Catching Application with a Spherical Soft Robotic Arm
Yaohui Huang, Matthias Hofer, Raffaello D'Andrea
This paper presents an offset-free model predictive controller for fast and accurate control of a spherical soft robotic arm. In this control scheme, a linear model is combined wit…
A Vision-based Sensing Approach for a Spherical Soft Robotic Arm
Matthias Hofer, Carmelo Sferrazza, Raffaello D'Andrea
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own sta…
A Fast and Reliable Pick-and-Place Application with a Spherical Soft Robotic Arm
Jasan Zughaibi, Matthias Hofer, Raffaello D'Andrea
This paper presents the application of a learning control approach for the realization of a fast and reliable pick-and-place application with a spherical soft robotic arm. The arm…
Vision-Based Proprioceptive Sensing for Soft Inflatable Actuators
Peter Werner, Matthias Hofer, Carmelo Sferrazza +1
This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an integrated camera. The proposed vision-based sensing pipeline predicts the…
Iterative Learning Control for Fast and Accurate Position Tracking with an Articulated Soft Robotic Arm
Matthias Hofer, Lukas Spannagl, Raffaello D'Andrea
This paper presents the application of an iterative learning control scheme to improve the position tracking performance for an articulated soft robotic arm during aggressive maneu…