4 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…
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…
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…
Design, Dynamic Modeling and Control of a 2-DOF Robotic Wrist Actuated by Twisted and Coiled Actuators
Yunsong Zhang, Xinyu Zhou, Feitian Zhang
Artificial muscle-driven modular soft robots exhibit significant potential for executing complex tasks. However, their broader applicability remains constrained by the lack of dyna…