4 papers
Octopus-inspired Distributed Control for Soft Robotic Arms: A Graph Neural Network-Based Attention Policy with Environmental Interaction
Linxin Hou, Qirui Wu, Zhihang Qin +2
This paper proposes SoftGM, an octopus-inspired distributed control architecture for segmented soft robotic arms that learn to reach targets in contact-rich environments using onli…
Source-Free Bistable Fluidic Gripper for Size-Selective and Stiffness-Adaptive Grasping
Zhihang Qin, Yueheng Zhang, Wan Su +5
Conventional fluid-driven soft grippers typically depend on external sources, which limit portability and long-term autonomy. This work introduces a self-contained soft gripper wit…
A Quantitative Comparison of Centralised and Distributed Reinforcement Learning-Based Control for Soft Robotic Arms
Linxin Hou, Qirui Wu, Zhihang Qin +3
This paper presents a quantitative comparison between centralised and distributed multi-agent reinforcement learning (MARL) architectures for controlling a soft robotic arm modelle…
Origami-Inspired Soft Gripper with Tunable Constant Force Output
Zhenwei Ni, Chang Xu, Zhihang Qin +4
Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control,…