117 citations · 137 across the 7 of their papers we have counts for
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Strouhal-Aware Model Predictive Control for Efficient Multi-Fin Flapping Locomotion
Yuya Hamamatsu, Zixi Chen, Maarja Kruusmaa +1
Efficient flapping propulsion hinges on operating within a narrow Strouhal number window, a principle nature has converged upon for maximum thrust-to-power ratio. We translate this…
A Flow Matching Framework for Soft-Robot Inverse Dynamics
Hang Yang, Fangju Yang, Yangming Zhang +5
Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based contro…
A Versatile Neural Network Configuration Space Planning and Control Strategy for Modular Soft Robot Arms
Zixi Chen, Qinghua Guan, Josie Hughes +2
Modular soft robot arms (MSRAs) are composed of multiple modules connected in a sequence, and they can bend at different angles in various directions. This capability allows MSRAs…
AdapJ: An Adaptive Extended Jacobian Controller for Soft Manipulators
Zixi Chen, Xuyang Ren, Yuya Hamamatsu +3
The nonlinearity and hysteresis of soft robot motions present challenges for control. To solve these issues, the Jacobian controller has been applied to approximate the nonlinear b…
A Novel and Accurate BiLSTM Configuration Controller for Modular Soft Robots with Module Number Adaptability
Zixi Chen, Matteo Bernabei, Vanessa Mainardi +3
Modular soft robots have shown higher potential in sophisticated tasks than single-module robots. However, the modular structure incurs the complexity of accurate control and neces…
A Hybrid Adaptive Controller for Soft Robot Interchangeability
Zixi Chen, Xuyang Ren, Matteo Bernabei +3
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produc…