4 papers
Strouhal-Aware Model Predictive Control for Efficient Multi-Fin Flapping Locomotion
Yuya Hamamatsu, Zixi Chen, Maarja Kruusmaa +1
Efficient flapping propulsion hinges on operating within a narrow Strouhal number window, a principle nature has converged upon for maximum thrust-to-power ratio. We translate this…
A Flow Matching Framework for Soft-Robot Inverse Dynamics
Hang Yang, Fangju Yang, Yangming Zhang +5
Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based contro…
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…
A Versatile Neural Network Configuration Space Planning and Control Strategy for Modular Soft Robot Arms
Zixi Chen, Qinghua Guan, Josie Hughes +2
Modular soft robot arms (MSRAs) are composed of multiple modules connected in a sequence, and they can bend at different angles in various directions. This capability allows MSRAs…