2 citations · 4 across the 18 of their papers we have counts for
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Lagrangian Properties and Control of Soft Robots Modeled with Discrete Cosserat Rods
Lekan Molu, Shaoru Chen, Audrey Sedal
The characteristic ``in-plane" bending associated with soft robots' deformation make them preferred over rigid robots in sophisticated manipulation and movement tasks. Executing su…
Fast Whole-Body Strain Regulation in Continuum Robots
Lekan Molu
We propose reaching steps towards the real-time strain control of multiphysics, multiscale continuum soft robots. To study this problem fundamentally, we ground ourselves in a mode…
PcLast: Discovering Plannable Continuous Latent States
Anurag Koul, Shivakanth Sujit, Shaoru Chen +11
Goal-conditioned planning benefits from learned low-dimensional representations of rich observations. While compact latent representations typically learned from variational autoen…
Mixed -Policy Learning Synthesis
Lekan Molu
A robustly stabilizing optimal control policy in a model-free mixed -control setting is here put forward for counterbalancing the slow convergence…