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Model Predictive Control for a Soft Robotic Finger with Stochastic Behavior based on Fokker-Planck Equation
http://hdl.handle.net/10061/0002001209
http://hdl.handle.net/10061/0002001209864a4ec9-f591-40ea-b11a-8151a4b7e996
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fulltext (675.6 KB)
Download is available from 2027/6/4.
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| アイテムタイプ | 会議発表論文 / Conference Paper(1) | |||||||||||||||||
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| 公開日 | 2025-10-09 | |||||||||||||||||
| 日付 | ||||||||||||||||||
| 日付 | 2027-06-04 | |||||||||||||||||
| 日付タイプ | Available | |||||||||||||||||
| タイトル | ||||||||||||||||||
| タイトル | Model Predictive Control for a Soft Robotic Finger with Stochastic Behavior based on Fokker-Planck Equation | |||||||||||||||||
| 言語 | ||||||||||||||||||
| 言語 | eng | |||||||||||||||||
| キーワード | ||||||||||||||||||
| 主題Scheme | Other | |||||||||||||||||
| 主題 | soft robotics | |||||||||||||||||
| キーワード | ||||||||||||||||||
| 主題Scheme | Other | |||||||||||||||||
| 主題 | model predictive control | |||||||||||||||||
| キーワード | ||||||||||||||||||
| 主題Scheme | Other | |||||||||||||||||
| 主題 | stochastic control | |||||||||||||||||
| 資源タイプ | ||||||||||||||||||
| 資源タイプ | conference paper | |||||||||||||||||
| アクセス権 | ||||||||||||||||||
| アクセス権 | embargoed access | |||||||||||||||||
| 著者 |
本司, 澄空
× 本司, 澄空
× 和田, 隆広
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| 内容記述タイプ | Abstract | |||||||||||||||||
| 内容記述 | The inherent flexibility of soft robots offers numerous advantages, such as enhanced adaptability and improved safety. However, this flexibility can also introduce challenges regarding highly uncertain and nonlinear motion. These challenges become particularly problematic when using open-loop control methods, which lack a feedback mechanism and are commonly employed in soft robot control. Though one potential solution is model-based control, typical deterministic models struggle with uncertainty as mentioned above. The idea is to use the Fokker-Planck Equation (FPE), a master equation of a stochastic process, to control not the state of soft robots but the probabilistic distribution. In this study, we propose and implement a stochastic-based control strategy, termed FPE-based Model Predictive Control (FPE-MPC), for a soft robotic finger. Two numerical simulation case studies examine the performance and characteristics of this control method, revealing its efficacy in managing the uncertainty inherent in soft robotic systems. | |||||||||||||||||
| 書誌情報 |
en : 2025 IEEE 8th International Conference on Soft Robotics (RoboSoft) ページ数 6, 発行日 2025-06-04 |
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| 会議情報 | ||||||||||||||||||
| 会議名 | 8th IEEE-RAS International Conference on Soft Robotics (RoboSoft 2025) | |||||||||||||||||
| 開始年 | 2025 | |||||||||||||||||
| 開始月 | 04 | |||||||||||||||||
| 開始日 | 22 | |||||||||||||||||
| 終了年 | 2025 | |||||||||||||||||
| 終了月 | 04 | |||||||||||||||||
| 終了日 | 26 | |||||||||||||||||
| 開催期間 | 2025-04-22 - 2025-04-26 | |||||||||||||||||
| 開催地 | Lausanne, Switzerland | |||||||||||||||||
| 開催国 | CHE | |||||||||||||||||
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| 出版者 | IEEE | |||||||||||||||||
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| 収録物識別子タイプ | EISSN | |||||||||||||||||
| 収録物識別子 | 2769-4534 | |||||||||||||||||
| 出版者版DOI | ||||||||||||||||||
| 関連タイプ | isVersionOf | |||||||||||||||||
| 識別子タイプ | DOI | |||||||||||||||||
| 関連識別子 | https://doi.org/10.1109/RoboSoft63089.2025.11020953 | |||||||||||||||||
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| 関連タイプ | isVersionOf | |||||||||||||||||
| 識別子タイプ | URI | |||||||||||||||||
| 関連識別子 | https://ieeexplore.ieee.org/document/11020953 | |||||||||||||||||
| 権利 | ||||||||||||||||||
| 権利情報 | © 2025 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. 出版社許諾条件により、本文は2027年6月4日以降に公開 | |||||||||||||||||
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| 出版タイプ | AM | |||||||||||||||||
