Cover Image

Learning-based Nonlinear Model Predictive Control of Articulated Soft Robots using Recurrent Neural Networks

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Schäfke, Hendrik, Habich, Tim-Lukas, Muhmann, Christian, Ehlers, Simon F. G., Seel, Thomas, Schappler, Moritz
Format:	Preprint
Published:	2024
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Generalizable and Fast Surrogates: Model Predictive Control of Articulated Soft Robots using Physics-Informed Neural Networks
by: Habich, Tim-Lukas, et al.
Published: (2025)

SPONGE: Open-Source Designs of Modular Articulated Soft Robots
by: Habich, Tim-Lukas, et al.
Published: (2024)

Adaptive Model-Predictive Control of a Soft Continuum Robot Using a Physics-Informed Neural Network Based on Cosserat Rod Theory
by: Licher, Johann, et al.
Published: (2025)

SafePR: Unified Approach for Safe Parallel Robots by Contact Detection and Reaction with Redundancy Resolution
by: Mohammad, Aran, et al.
Published: (2025)

Learning-based Position and Stiffness Feedforward Control of Antagonistic Soft Pneumatic Actuators using Gaussian Processes
by: Habich, Tim-Lukas, et al.
Published: (2023)

Domain-decoupled Physics-informed Neural Networks with Closed-form Gradients for Fast Model Learning of Dynamical Systems
by: Krauss, Henrik, et al.
Published: (2024)

Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics
by: Habich, Tim-Lukas, et al.
Published: (2023)

Towards Optimized Parallel Robots for Human-Robot Collaboration by Combined Structural and Dimensional Synthesis
by: Mohammad, Aran, et al.
Published: (2024)

Fast Contact Detection via Fusion of Joint and Inertial Sensors for Parallel Robots in Human-Robot Collaboration
by: Mohammad, Aran, et al.
Published: (2025)

Active Stereo-Camera Outperforms Multi-Sensor Setup in ACT Imitation Learning for Humanoid Manipulation
by: Kühn, Robin, et al.
Published: (2026)

Simultaneous State Estimation and Online Model Learning in a Soft Robotic System
by: Ewering, Jan-Hendrik, et al.
Published: (2026)

Dual Iterative Learning Control for Multiple-Input Multiple-Output Dynamics with Validation in Robotic Systems
by: Ewering, Jan-Hendrik, et al.
Published: (2025)

Toward Dynamic Control of Tendon-driven Continuum Robots using Clarke Transform
by: Muhmann, Christian, et al.
Published: (2025)

Dispelling Four Challenges in Inertial Motion Tracking with One Recurrent Inertial Graph-based Estimator (RING)
by: Bachhuber, Simon, et al.
Published: (2024)

A Hybrid Autoencoder for Robust Heightmap Generation from Fused Lidar and Depth Data for Humanoid Robot Locomotion
by: Bank, Dennis, et al.
Published: (2026)

Iterative Learning Control for Fast and Accurate Position Tracking with an Articulated Soft Robotic Arm
by: Hofer, Matthias, et al.
Published: (2019)

A Soft Robotic System Automatically Learns Precise Agile Motions Without Model Information
by: Bachhuber, Simon, et al.
Published: (2024)

Neural Network-Based Virtual Wheel-Speed Sensor for Enhanced Low-Velocity State Estimation
by: Schäfke, Hendrik, et al.
Published: (2026)

AI-MOLE: Autonomous Iterative Motion Learning for Unknown Nonlinear Dynamics with Extensive Experimental Validation
by: Meindl, Michael, et al.
Published: (2024)

Reliable State Estimation in a Truck-Semitrailer Combination using an Artificial Neural Network-Aided Extended Kalman Filter
by: Ewering, Jan-Hendrik, et al.
Published: (2024)

Autonomous Iterative Motion Learning (AI-MOLE) of a SCARA Robot for Automated Myocardial Injection
by: Meindl, Michael, et al.
Published: (2024)

Recurrent Neural Network–Based Nonlinear Orientation Control of Redundant Stewart Platform
by: Ameer Hamza Khan, et al.
Published: (2025)

Model-less Active Compliance for Continuum Robots using Recurrent Neural Networks
by: Jakes, David, et al.
Published: (2019)

Design Method of a Kangaroo Robot with High Power Legs and an Articulated Soft Tail
by: Yoshimura, Shunnosuke, et al.
Published: (2024)

Trajectory Planning for an Articulated Commercial Vehicle using Model Predictive Contouring Control
by: Aertssen, A. J., et al.
Published: (2026)

Simulating Safe Bite Transfer in Robot-Assisted Feeding with a Soft Head and Articulated Jaw
by: San, Yi Heng, et al.
Published: (2025)

A Unified Calibration Framework for High-Accuracy Articulated Robot Kinematics
by: Tobuschat, Philip, et al.
Published: (2026)

ISyHand: A Dexterous Multi-finger Robot Hand with an Articulated Palm
by: Richardson, Benjamin A., et al.
Published: (2025)

Structure-Preserving Gaussian Processes Via Discrete Euler-Lagrange Equations
by: Ewering, Jan-Hendrik, et al.
Published: (2026)

Safe Imitation Learning of Nonlinear Model Predictive Control for Flexible Robots
by: Mamedov, Shamil, et al.
Published: (2022)

A Versatile Neural Network Configuration Space Planning and Control Strategy for Modular Soft Robot Arms
by: Chen, Zixi, et al.
Published: (2024)

Articulated-Body Dynamics Network: Dynamics-Grounded Prior for Robot Learning
by: Shin, Sangwoo, et al.
Published: (2026)

Multi-segment Soft Robot Control via Deep Koopman-based Model Predictive Control
by: Lv, Lei, et al.
Published: (2025)

Model Predictive Control for a Soft Robotic Finger with Stochastic Behavior based on Fokker-Planck Equation
by: Honji, Sumitaka, et al.
Published: (2025)

Repairing Neural Networks for Safety in Robotic Systems using Predictive Models
by: Majd, Keyvan, et al.
Published: (2024)

Modeling, Embedded Control and Design of Soft Robots using a Learned Condensed FEM Model
by: Ménager, Etienne, et al.
Published: (2025)

Implicit Articulated Robot Morphology Modeling with Configuration Space Neural Signed Distance Functions
by: Chen, Yiting, et al.
Published: (2023)

Infinite-Dimensional Closed-Loop Inverse Kinematics for Soft Robots via Neural Operators
by: Veil, Carina, et al.
Published: (2026)

Hysteresis-Aware Neural Network Modeling and Whole-Body Reinforcement Learning Control of Soft Robots
by: Chen, Zongyuan, et al.
Published: (2025)

Mechanic Modeling and Nonlinear Optimal Control of Actively Articulated Suspension of Mobile Heavy-Duty Manipulators
by: Paz, Alvaro, et al.
Published: (2025)