2 papers
eess.SY2026
Robust Semi-passive Velocity Field Control with Boundedness Guarantees for Safe Interaction between Mechanical Systems and Physical Environment
Van Trong Dang, Sumitaka Honji, Takahiro Wada
Controllers that guarantee energetic passivity with respect to the pair of external force and velocity realize safe interaction between the mechanical system and its physical envir…
cs.RO2025
Model Predictive Control for a Soft Robotic Finger with Stochastic Behavior based on Fokker-Planck Equation
Sumitaka Honji, Takahiro Wada
The inherent flexibility of soft robots offers numerous advantages, such as enhanced adaptability and improved safety. However, this flexibility can also introduce challenges regar…