Xuemei Shan — accepted AI-conference papers

2025

Analysis and Experiment of a Pneumatic Linear Actuator Actuated by both Positive and Negative Pressures

Weijian Ni, Yufei Hao, Lei Bao, Xuemei Shan, Jianhua Zhang

IROS 2025

This paper establishes an analytical model for a dual-pressure-actuated pneumatic linear actuator, investigating the relationship between the output force of the linear actuator and both the pressure differential and displacement. Experiments were designed to validate the model. The maximum output f

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2025

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

Lei Lv, Lei Liu, Lei Bao, Fuchun Sun, Jiahong Dong, Jianwei Zhang +4

ICRA 2025

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

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