Cover Image

SpikingSoft: A Spiking Neuron Controller for Bio-inspired Locomotion with Soft Snake Robots

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Zhang, Chuhan, Wang, Cong, Pan, Wei, Della Santina, Cosimo
Format:	Preprint
Published:	2025
Subjects:	Robotics Machine Learning
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

NiSNN-A: Non-iterative Spiking Neural Networks with Attention with Application to Motor Imagery EEG Classification
by: Zhang, Chuhan, et al.
Published: (2023)

SENSE-STEP: Learning Sim-to-Real Locomotion for a Sensory-Enabled Soft Quadruped Robot
by: de Kam, Storm, et al.
Published: (2026)

Modeling and Control of Intrinsically Elasticity Coupled Soft-Rigid Robots
by: Patterson, Zach J., et al.
Published: (2023)

Input-to-State Stable Coupled Oscillator Networks for Closed-form Model-based Control in Latent Space
by: Stölzle, Maximilian, et al.
Published: (2024)

Recursive Model-agnostic Inverse Dynamics of Serial Soft-Rigid Robots
by: Pustina, Pietro, et al.
Published: (2024)

ES-Parkour: Advanced Robot Parkour with Bio-inspired Event Camera and Spiking Neural Network
by: Zhang, Qiang, et al.
Published: (2025)

Model Predictive Wave Disturbance Rejection for Underwater Soft Robotic Manipulators
by: Walker, Kyle L., et al.
Published: (2024)

Towards Terrain-Aware Safe Locomotion for Quadrupedal Robots Using Proprioceptive Sensing
by: Yang, Peiyu, et al.
Published: (2026)

Learning Low-Dimensional Strain Models of Soft Robots by Looking at the Evolution of Their Shape with Application to Model-Based Control
by: Valadas, Ricardo, et al.
Published: (2024)

Guiding Soft Robots with Motor-Imagery Brain Signals and Impedance Control
by: Stölzle, Maximilian, et al.
Published: (2024)

Berry Twist: a Twisting-Tube Soft Robotic Gripper for Blackberry Harvesting
by: Elfferich, Johannes F., et al.
Published: (2024)

Design and Control of Modular Soft-Rigid Hybrid Manipulators with Self-Contact
by: Patterson, Zach J., et al.
Published: (2024)

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

Explosive Jumping with Rigid and Articulated Soft Quadrupeds via Example Guided Reinforcement Learning
by: Apostolides, Georgios, et al.
Published: (2025)

Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions
by: Wong, Kiwan, et al.
Published: (2025)

Back-stepping Experience Replay with Application to Model-free Reinforcement Learning for a Soft Snake Robot
by: Qi, Xinda, et al.
Published: (2024)

Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots
by: Pustina, Pietro, et al.
Published: (2024)

Analytical Model and Experimental Testing of the SoftFoot: an Adaptive Robot Foot for Walking over Obstacles and Irregular Terrains
by: Piazza, Cristina, et al.
Published: (2024)

An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots
by: Stölzle, Maximilian, et al.
Published: (2023)

DittoGym: Learning to Control Soft Shape-Shifting Robots
by: Huang, Suning, et al.
Published: (2024)

Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds
by: Vezzi, Francecso, et al.
Published: (2023)

Mastering Contact-rich Tasks by Combining Soft and Rigid Robotics with Imitation Learning
by: Montero, Mariano Ramírez, et al.
Published: (2024)

Soft Robotic Snake with Tunable Undulatory Gait for Efficient Underwater Locomotion
by: Huichen Ma, et al.
Published: (2025)

Population-Coded Spiking Neural Networks for High-Dimensional Robotic Control
by: Jaisankar, Kanishkha, et al.
Published: (2025)

ILeSiA: Interactive Learning of Robot Situational Awareness from Camera Input
by: Vanc, Petr, et al.
Published: (2024)

TamedPUMA: safe and stable imitation learning with geometric fabrics
by: Bakker, Saray, et al.
Published: (2025)

Soft yet Effective Robots via Holistic Co-Design
by: Stölzle, Maximilian, et al.
Published: (2025)

Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and its Application to Soft Robotics
by: Pustina, Pietro, et al.
Published: (2023)

Domain Randomization for Robust, Affordable and Effective Closed-loop Control of Soft Robots
by: Tiboni, Gabriele, et al.
Published: (2023)

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

Bresa: Bio-inspired Reflexive Safe Reinforcement Learning for Contact-Rich Robotic Tasks
by: Zhang, Heng, et al.
Published: (2025)

Versatile, Robust, and Explosive Locomotion with Rigid and Articulated Compliant Quadrupeds
by: Ding, Jiatao, et al.
Published: (2025)

Bridging the Gap: Enabling Soft Actor Critic for High Performance Legged Locomotion
by: Sabatini, Gianluca, et al.
Published: (2026)

Model-based Optimal Control for Rigid-Soft Underactuated Systems
by: Caradonna, Daniele, et al.
Published: (2026)

Robot Crash Course: Learning Soft and Stylized Falling
by: Strauch, Pascal, et al.
Published: (2025)

A Survey on Soft Robot Adaptability: Implementations, Applications, and Prospects
by: Chen, Zixi, et al.
Published: (2025)

Natural Humanoid Robot Locomotion with Generative Motion Prior
by: Zhang, Haodong, et al.
Published: (2025)

Tactile Memory with Soft Robot: Robust Object Insertion via Masked Encoding and Soft Wrist
by: Kamijo, Tatsuya, et al.
Published: (2026)

Proprioceptive Learning with Soft Polyhedral Networks
by: Liu, Xiaobo, et al.
Published: (2023)

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