First, soft robots are built to work in the environment, so the presence of obstacles in their path should always be explicitly accounted by their control systems. Second, due to the complex kinematics, the actuation of soft robots is mapped to the state space nonlinearly resulting in spaces ...
Soft robots are primarily composed of soft materials that can allow for mechanically robust maneuvers that are not typically possible with conventional rigid robotic systems. However, owing to the current limitations in simulation, design and control of soft robots often involve a painstaking trial. Wi...
The FE method has been employed for the modeling and real-time control of soft robots using the open-source framework “Simulation Open Framework Architecture” with the “SOFT ROBOTS” plugin [21,22]. However, it is limited to quasi-static conditions and requires the linearization of structural...
T. Design, fabrication and control of soft robots. Nature 521, 467–475 (2015). Article ADS CAS Google Scholar Polygerinos, P., Wang, Z., Galloway, K. C., Wood, R. J. & Walsh, C. J. Soft robotic glove for combined assistance and at-home rehabilitation. Rob. Auton. Syst. 73...
The approach is based on the geometrically exact shell theory used in nonlinear structural dynamics and exploits the symmetric shape of the mantle. Once all the mathematical background is reminded we propose a first use of this model by using the constitutive laws of the shell as control laws ...
On the other hand, control theory [11,12], while effective for a range of control problems, faces significant limitations due to their reliance on precise mathematical models of the system they control. Moreover, these controllers often struggle with robustness, as they are highly sensitive to ...
adaptive dynamic control for magnetically actuated medical robots磁驱动医疗机器人自适应动态控制.pdf,IEEE Robotics and Automation Letters (RAL) paper presented at the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Macau, ,
Attitude control of fixed-wing UAV based on DDQN. In: Proceedings of Chinese Automation Congress (CAC), 2019. 4722–4726 MATH Google Scholar Bøhn E, Coates E M, Reinhardt D, et al. Data-efficient deep reinforcement learning for attitude control of fixed-wing UAVs: field experiments. ...
T. Design, fabrication and control of soft robots. Nature 521, 467–475 (2015). Article Google Scholar Block, P. et al. NEST HiLo: investigating lightweight construction and adaptive energy systems. J. Build. Eng. 12, 332–341 (2017). Article Google Scholar Nagy, Z. et al. The ...
When humanoid robots attempt to walk on terrain such as shaking platforms, time-varying disturbances are introduced to the support foot. These abrupt changes of inclination angle can cause the robot to lose balance upon landing, presenting significant challenges for balance control algorithms. To addre...