3 papers
cs.RO2026
TouchDrive: Electronics-Free Tactile Sensing Interface for Assistive Grasping
Jing Xu, Xuezhi Niu, Didem Gurdur Broo +1
Assistive robotic grasping plays an important role in enabling safe and adaptive manipulation of diverse objects. However, existing systems often rely on electronic sensing and mul…
cs.RO2024
Optimal Gait Control for a Tendon-driven Soft Quadruped Robot by Model-based Reinforcement Learning
Xuezhi Niu, Kaige Tan, Lei Feng
This study presents an innovative approach to optimal gait control for a soft quadruped robot enabled by four Compressible Tendon-driven Soft Actuators (CTSAs). Improving our previ…
cs.RO2024
Optimal Gait Design for a Soft Quadruped Robot via Multi-fidelity Bayesian Optimization
Kaige Tan, Xuezhi Niu, Qinglei Ji +2
This study focuses on the locomotion capability improvement in a tendon-driven soft quadruped robot through an online adaptive learning approach. Leveraging the inverse kinematics…