5 papers
AFT: Appearance-Based Feature Tracking for Markerless and Training-Free Shape Reconstruction of Soft Robots
Shangyuan Yuan, Preston Fairchild, Yu Mei +2
Accurate shape reconstruction is essential for precise control and reliable operation of soft robots. Compared to sensor-based approaches, vision-based methods offer advantages in…
Velocity-Form Data-Enabled Predictive Control of Soft Robots under Unknown External Payloads
Huanqing Wang, Kaixiang Zhang, Kyungjoon Lee +5
Data-driven control methods such as data-enabled predictive control (DeePC) have shown strong potential in efficient control of soft robots without explicit parametric models. Howe…
Modeling and Mixed-Integer Nonlinear MPC of Positive-Negative Pressure Pneumatic Systems
Yu Mei, Xinyu Zhou, Xiaobo Tan
Positive-negative pressure regulation is critical to soft robotic actuators, enabling large motion ranges and versatile actuation modes. However, it remains challenging due to comp…
Learning-Based Modeling of Soft Actuators Using Euler Spiral-Inspired Curvature
Yu Mei, Shangyuan Yuan, Xinda Qi +2
Soft robots, distinguished by their inherent compliance and continuum structures, present unique modeling challenges, especially when subjected to significant external loads such a…
Fast Online Adaptive Neural MPC via Meta-Learning
Yu Mei, Xinyu Zhou, Shuyang Yu +2
Data-driven model predictive control (MPC) has demonstrated significant potential for improving robot control performance in the presence of model uncertainties. However, existing…