Jiahong Dong

Periodic Steady-State Control of a Handkerchief-Spinning Task Using a Parallel Anti-Parallelogram Tendon-Driven Wrist

Multi-Segment Soft Robot Control Via Deep Koopman-Based Model Predictive Control

Soft robots, compared to regular rigid robots, as their multiple segments with soft materials bring flexibility and compliance, have the advantages of safe interaction and dexterous operation in the environment. However, due to its characteristics of high dimensional, nonlinearity, time-varying natu