2 papers
cs.RO2024
Underactuated Control of Multiple Soft Pneumatic Actuators via Stable Inversion
Wu-Te Yang, Burak Kurkcu, Masayoshi Tomizuka
Soft grippers, with their inherent compliance and adaptability, show advantages for delicate and versatile manipulation tasks in robotics. This paper presents a novel approach to u…
cs.RO2023
Nonlinear Modeling for Soft Pneumatic Actuators via Data-Driven Parameter Estimation
Wu-Te Yang, Hannah Stuart, Burak Kurkcu +1
Precise modeling soft robots remains a challenge due to their infinite-dimensional nature governed by partial differential equations. This paper introduces an innovative approach f…