4 papers
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)…
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…
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…
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…