3 papers
cs.RO2026
Control-Oriented Learning for Dynamic Tracking and Stability Analysis of Soft Pneumatic Actuators
Nithin S. Kumar, Eric J. Barth
Soft pneumatic actuators offer inherent compliance and safe interaction but remain difficult to model and control because of their highly nonlinear, distributed dynamics. We presen…
cs.RO2026
Learning-Based Modeling of Soft Robots via Cosserat Rod Theory
Mohammad Ali, Nithin Senthur Kumar, Eric J. Barth +1
Modeling soft robot dynamics is challenging due to their continuum structure and typically nonlinear dynamics. Creating models based on first-order principles is typically time-dem…
cs.RO2026
Model-based Optimization of Anguilliform Swimming Gaits for Soft Robotic Applications
Brian Van Stratum, James Gallentine, Caleb Rucker +3
In this paper, we introduce the Soft Lamprey-Inspired Dual Environment Robot (SLIDER) and a proper modeling and optimization procedure employed to design the robot. We represent th…