A conditional rectified flow matching framework learns inverse dynamics for soft robots as a generative map, cutting trajectory tracking error by more than half versus MLP, LSTM, and Transformer baselines while enabling stable high-speed open-loop execution.
Design, fabrication and control of soft robots
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A kinematic boundary-following model with curvature control and Pontryagin-optimal shapes yields a class of continuum grasp quality metrics for planar soft-arm grasping.
A review summarizing locomotion strategies, actuation methods, modeling approaches, and control systems for wheelless terrestrial soft mobile robots, while identifying key research challenges.
citing papers explorer
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A Flow Matching Framework for Soft-Robot Inverse Dynamics
A conditional rectified flow matching framework learns inverse dynamics for soft robots as a generative map, cutting trajectory tracking error by more than half versus MLP, LSTM, and Transformer baselines while enabling stable high-speed open-loop execution.
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Kinematics of continuum planar grasping
A kinematic boundary-following model with curvature control and Pontryagin-optimal shapes yields a class of continuum grasp quality metrics for planar soft-arm grasping.
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Terrestrial Soft Mobile Robots: A Review
A review summarizing locomotion strategies, actuation methods, modeling approaches, and control systems for wheelless terrestrial soft mobile robots, while identifying key research challenges.