2 papers
cs.RO2025
Development of a Multi-Fingered Soft Gripper Digital Twin for Machine Learning-based Underactuated Control
Wu-Te Yang, Pei-Chun Lin
Soft robots, made from compliant materials, exhibit complex dynamics due to their flexibility and high degrees of freedom. Controlling soft robots presents significant challenges,…
cs.RO2024
Physics-data hybrid dynamic model of a multi-axis manipulator for sensorless dexterous manipulation and high-performance motion planning
Wu-Te Yang, Jyun-Ming Liao, Pei-Chun Lin
We report on the development of an implementable physics-data hybrid dynamic model for an articulated manipulator to plan and operate in various scenarios. Meanwhile, the physics-b…