Christoph Keplinger — accepted AI-conference papers

2020

Identification and Control of a Nonlinear Soft Actuator and Sensor System

Brian K. Johnson, Vani Sundaram, Mantas Naris, Eric Acome, Khoi D. Ly, Nikolaus Correll +3

RA-L 2020

Soft robots are becoming increasingly prevalent, with unique applications to medical devices and wearable technology. Understanding the dynamics of nonlinear soft actuators is crucial to creating controllable soft robots. this letter presents a system identification process and closed-loop control o

Cited by 21 Source ↗Scholar ↗

2018

System Identification and Closed-Loop Control of a Hydraulically Amplified Self-Healing Electrostatic (HASEL) Actuator

Cosima Schunk, Levi Pearson, Eric Acome, Timothy G. Morrissey, Nikolaus Correll, Christoph Keplinger +2

IROS 2018poster

This paper describes a system identification method and the development of a closed-loop controller for a Hydraulically Amplified Self-healing Electrostatic (HASEL) actuator. Our efforts focus on developing a reliable and consistent way to identify system models for these soft robotic actuators usin…

Cited by 22 Source ↗Scholar ↗