1 citations · 1 across the 4 of their papers we have counts for
4 papers
Dynamical Modeling and Control of Soft Robots with Non-constant Curvature Deformation
Zhanchi Wang, Gaotian Wang, Xiaoping Chen +1
The Piecewise Constant Curvature (PCC) model is the most widely used soft robotic modeling and control. However, the PCC fails to accurately describe the deformation of the soft ro…
Control of a Soft Robotic Arm Using a Piecewise Universal Joint Model
Zhanchi Wang, Gaotian Wang, Xiaoping Chen +1
The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing e…
A Q-learning Control Method for a Soft Robotic Arm Utilizing Training Data from a Rough Simulator
Peijin Li, Gaotian Wang, Hao Jiang +4
It is challenging to control a soft robot, where reinforcement learning methods have been applied with promising results. However, due to the poor sample efficiency, reinforcement…
Unified Kinematic and Dynamical Modeling of a Soft Robotic Arm by a Piecewise Universal Joint Model
Zhanchi Wang, Gaotian Wang, Nikolaos M. Freris
The compliance of soft robotic arms renders the development of accurate kinematic & dynamical models especially challenging. The most widely used model in soft robotic kinematics a…