2026
Autonomous Decentralized Control for Motion Switching in an Intestine-Inspired Peristaltic Mixing Pump Adaptive to Physical Phase Transitions of Mixed Materials
ICRA 2026poster
In this paper, we developed an autonomous decentralized control method that incorporates phase-difference adjustment based on a sigmoid function, enabling the design of both increases and decreases in discrepancy. The method was applied to a peristaltic mixing pump capable of mixing and transporting…