7 accepted papers
Soft robots are inherently compliant and safe, making them suitable for humaninteractive applications such as surgery. However, their nonlinear and hysteretic behavior poses significant challenges for accurate modeling and control. We present a soft robotic system and propose a hysteresis-aware whol…
Soft robots are inherently compliant and safe, making them suitable for human-interactive applications such as surgery. However, their nonlinear and hysteretic behavior, arising from the properties of soft materials, presents substantial challenges for accurate modeling and control. In this study, w
Bronchoscopy, as an essential minimally invasive diagnostic and therapeutic modality, assumes a pivotal role in the early detection of lung cancer. However, the complex anatomy of the airway and the fixed length of the bronchoscope’s bending segment, along with its external propulsion property, pose…
Soft robots have garnered considerable interest in recent years in terms of structure and functionality, while commercially viable pressure supply systems with various pressure supply modes for soft robots remain slow to progress. Hence, in this work, a palm-sized multi-mode pressure supply system b
Safe human-robot interaction and excellent motion flexibility ensure a wide range of potential applications for soft robots in industry and medicine. Although many efforts have been made to empower soft robots with variable stiffness, solutions for miniaturization, wide-range, and rapid-response sti
In this paper, we propose a novel swashplateless-elevon actuation (SEA) for dual-rotor tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs). In contrast to the conventional elevon actuation (CEA) which controls both pitch and yaw using elevons, the SEA adopts swash-platele…
Modular Reinforcement Learning (RL) decentralizes the control of multi-joint robots by learning policies for each actuator. Previous work on modular RL has proven its ability to control morphologically different agents with a shared actuator policy. However, with the increase in the Degree of Freedo…