Kaige Tan — accepted AI-conference papers

2025

Optimal Gait Control for a Tendon-Driven Soft Quadruped Robot by Model-Based Reinforcement Learning

Xuezhi Niu, Kaige Tan, Didem Gürdür Broo, Lei Feng

ICRA 2025

This study presents an innovative approach to optimal gait control for a soft quadruped robot enabled by four compressible tendon-driven soft actuators. Soft quadruped robots, compared to their rigid counterparts, are widely recognized for offering enhanced safety, lower weight, and simpler fabricat

Cited by 2 Source ↗Scholar ↗

2022

Shape Estimation of a 3D Printed Soft Sensor Using Multi-Hypothesis Extended Kalman Filter

Kaige Tan, Qinglei Ji, Lei Feng, Martin Törngren

RA-L 2022

This study develops a multi-hypothesis extended Kalman filter (MH-EKF) for the online estimation of the bending angle of a 3D printed soft sensor attached to soft actuators. Despite the advantage of compliance and low interference, the 3D printed soft sensor is susceptible to the hysteresis property

Cited by 8 Source ↗Scholar ↗