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cs.RO2024
AdapJ: An Adaptive Extended Jacobian Controller for Soft Manipulators
Zixi Chen, Xuyang Ren, Yuya Hamamatsu +3
The nonlinearity and hysteresis of soft robot motions present challenges for control. To solve these issues, the Jacobian controller has been applied to approximate the nonlinear b…
cs.RO2024★ 2 cited
A Novel and Accurate BiLSTM Configuration Controller for Modular Soft Robots with Module Number Adaptability
Zixi Chen, Matteo Bernabei, Vanessa Mainardi +3
Modular soft robots have shown higher potential in sophisticated tasks than single-module robots. However, the modular structure incurs the complexity of accurate control and neces…