Xuanke You — accepted AI-conference papers

2017

A two-level approach for solving the inverse kinematics of an extensible soft arm considering viscoelastic behavior

Hao Jiang, Zhanchi Wang, Xinghua Liu, Xiaotong Chen, Yusong Jin, Xuanke You +1

ICRA 2017poster

Soft compliant materials and novel actuation mechanisms ensure flexible motions and high adaptability for soft robots, but also increase the difficulty and complexity of constructing control systems. In this work, we provide an efficient control algorithm for a multi-segment extensible soft arm in 2…

Cited by 72 Source ↗Scholar ↗

2017

Model-free control for soft manipulators based on reinforcement learning

Xuanke You, Yixiao Zhang, Xiaotong Chen, Xinghua Liu, Zhanchi Wang, Hao Jiang +1

IROS 2017poster

Most control methods of soft manipulators are developed based on physical models derived from mathematical analysis or learning methods. However, due to internal nonlinearity and external uncertain disturbances, it is difficult to build an accurate model, further, these methods lack robustness and p…

Cited by 79 Source ↗Scholar ↗