14 citations · 23 across the 7 of their papers we have counts for
7 papers
Surgical Robot, Path Planning, Joint Space, Riemannian Manifolds
Yoshiki Yamamoto, Maina Sogabe, Shunichi Hirahara +3
Robotic surgery for minimally invasive surgery can reduce the surgeon's workload by autonomously guiding robotic forceps. Movement of the robot is restricted around a fixed inserti…
One-Step Model Predictive Path Integral for Manipulator Motion Planning Using Configuration Space Distance Fields
Yulin Li, Tetsuro Miyazaki, Kenji Kawashima
Motion planning for robotic manipulators is a fundamental problem in robotics. Classical optimization-based methods typically rely on the gradients of signed distance fields (SDFs)…
Control Pneumatic Soft Bending Actuator with Online Learning Pneumatic Physical Reservoir Computing
Junyi Shen, Tetsuro Miyazaki, Kenji Kawashima
The intrinsic nonlinearities of soft robots present significant control but simultaneously provide them with rich computational potential. Reservoir computing (RC) has shown effect…
S-RRT*-based Obstacle Avoidance Autonomous Motion Planner for Continuum-rigid Manipulator
Yulin Li, Tetsuro Miyazaki, Yoshiki Yamamoto +1
Continuum robots are compact and flexible, making them suitable for use in the industries and in medical surgeries. Rapidly-exploring random trees (RRT) are a highly efficient path…
Control Pneumatic Soft Bending Actuator with Feedforward Hysteresis Compensation by Pneumatic Physical Reservoir Computing
Junyi Shen, Tetsuro Miyazaki, Kenji Kawashima
The nonlinearities of soft robots bring control challenges like hysteresis but also provide them with computational capacities. This paper introduces a fuzzy pneumatic physical res…
Two Degree of Freedom Adaptive Control for Hysteresis Compensation of Pneumatic Continuum Bending Actuator
Junyi Shen, Tetsuro Miyazaki, Shingo Ohno +2
Soft robotics, with their inherent flexibility and infinite degrees of freedom (DoF), offer promising advancements in human-machine interfaces. Particularly, pneumatic artificial m…
Trajectory Tracking Control of Dual-PAM Soft Actuator with Hysteresis Compensator
Junyi Shen, Tetsuro Miyazaki, Shingo Ohno +2
Soft robotics is a swiftly evolving field. Pneumatic actuators are suitable for driving soft robots because of their superior performance. However, their control is challenging due…