5 papers
Fractional-order Modeling for Nonlinear Soft Actuators via Particle Swarm Optimization
Wu-Te Yang, Masayoshi Tomizuka
Modeling soft pneumatic actuators with high precision remains a fundamental challenge due to their highly nonlinear and compliant characteristics. This paper proposes an innovative…
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…
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…
Control of Soft Pneumatic Actuators with Approximated Dynamical Modeling
Wu-Te Yang, Burak Kurkcu, Motohiro Hirao +5
This paper introduces a full system modeling strategy for a syringe pump and soft pneumatic actuators(SPAs). The soft actuator is conceptualized as a beam structure, utilizing a se…
Optimized Design of a Soft Actuator Considering Force/Torque, Bendability, and Controllability via an Approximated Structure
Wu-Te Yang, Burak Kurkcu, Masayoshi Tomizuka
This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft a…