3 papers
cs.RO2026
Accurate Open-Loop Control of a Soft Continuum Robot Through Visually Learned Latent Representations
Henrik Krauss, Johann Licher, Naoya Takeishi +2
This work addresses open-loop control of a soft continuum robot (SCR) from video-learned latent dynamics. Visual Oscillator Networks (VONs) from previous work are used, that provid…
cs.RO2025
Learning Visually Interpretable Oscillator Networks for Soft Continuum Robots from Video
Henrik Krauss, Johann Licher, Naoya Takeishi +2
Learning soft continuum robot (SCR) dynamics from video offers flexibility but existing methods lack interpretability or rely on prior assumptions. Model-based approaches require p…
cs.RO2025
Adaptive Model-Predictive Control of a Soft Continuum Robot Using a Physics-Informed Neural Network Based on Cosserat Rod Theory
Johann Licher, Max Bartholdt, Henrik Krauss +3
Dynamic control of soft continuum robots (SCRs) holds great potential for expanding their applications, but remains a challenging problem due to the high computational demands of a…