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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

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Joshua Gaston

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Open access Aug 2026

Task-Space Model-Based Control of Pneumatic Soft Actuators

Soft actuators enable dexterous and compliant interaction, but closed-loop task-space control remains challenging due to strong nonlinearities, distributed deformation, and uncertainty in their dynamics. This paper presents a real-time dynamic-model-based task-space feedback and estimation framework based on a non-mini...

Nithin S. Kumar, Joshua Gaston, D. C. Rucker et al. · 0 citations

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