Showing 2023 · cs.ROShow all
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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…
cs.RO2023
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…
cs.RO2023
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…