Abstract: Industrial robotics demands significant energy to operate, making energy-reduction methodologies increasingly important. Strategies for planning minimum-energy trajectories typically involve solving nonlinear optimal control problems (OCPs), which rarely cope with real-time (RT) requirements. In this article, we propose a paradigm for generating near … [Read more...] about Real-Time Generation of Near Minimum-Energy Trajectories via Constraint-Informed Residual Learning: A Paradigm for Learning From Optimal Solutions
Mathematical models
Simplifying Data-Driven Modeling of the Volume–Flow–Pressure Relationship in Hydraulic Soft Robotic Actuators: A Practical and Balanced Solution
Abstract: Soft robotic systems are known for their flexibility and adaptability, but traditional physics-based models struggle to capture their complex, nonlinear behaviors. This study explores a data-driven approach to modeling the volume–flow–pressure relationship in hydraulic soft actuators, focusing on low-complexity models with high accuracy. We perform regression … [Read more...] about Simplifying Data-Driven Modeling of the Volume–Flow–Pressure Relationship in Hydraulic Soft Robotic Actuators: A Practical and Balanced Solution
Simplifying Data-Driven Modeling of the Volume–Flow–Pressure Relationship in Hydraulic Soft Robotic Actuators: A Practical and Balanced Solution
Abstract: Soft robotic systems are known for their flexibility and adaptability, but traditional physics-based models struggle to capture their complex, nonlinear behaviors. This study explores a data-driven approach to modeling the volume–flow–pressure relationship in hydraulic soft actuators, focusing on low-complexity models with high accuracy. We perform regression … [Read more...] about Simplifying Data-Driven Modeling of the Volume–Flow–Pressure Relationship in Hydraulic Soft Robotic Actuators: A Practical and Balanced Solution
Finite Element Analysis-Based Soft Robotic Modeling: Simulating a Soft Actuator in SOFA
Soft robotics modeling is a research topic that is evolving fast. Many techniques are present in literature, but most of them require analytical models with a lot of equations that are time consuming, hard to resolve, and not so easy to handle. For this reason, the help of a soft mechanics simulator is essential in this field. This article presents a tutorial on how to build a … [Read more...] about Finite Element Analysis-Based Soft Robotic Modeling: Simulating a Soft Actuator in SOFA
Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics
Recent interest in the control of underactuated robots has surged significantly due to the impressive athletic behaviors shown by robots developed by, e.g., Boston Dynamics ( https://www.bostondynamics.com ), Agility Robotics ( https://agilityrobotics.com/robots ), and the Massachusetts Institute of Technology [1] . This gives rise to the need for canonical robotic hardware … [Read more...] about Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics
