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cs.RO2025
Fractional-order Modeling for Nonlinear Soft Actuators via Particle Swarm Optimization
Wu-Te Yang, Masayoshi Tomizuka
Modeling soft pneumatic actuators with high precision remains a fundamental challenge due to their highly nonlinear and compliant characteristics. This paper proposes an innovative…
cs.RO2024
Underactuated Control of Multiple Soft Pneumatic Actuators via Stable Inversion
Wu-Te Yang, Burak Kurkcu, Masayoshi Tomizuka
Soft grippers, with their inherent compliance and adaptability, show advantages for delicate and versatile manipulation tasks in robotics. This paper presents a novel approach to u…
cs.RO2024
Optimized Design of a Soft Actuator Considering Force/Torque, Bendability, and Controllability via an Approximated Structure
Wu-Te Yang, Burak Kurkcu, Masayoshi Tomizuka
This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft a…