3 papers
cs.RO2021
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…
cs.RO2020
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…
cs.RO2019
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…