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Sponsored Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt

Author

Nithin S. Kumar

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Preprint Aug 2026

Control-Oriented Learning for Dynamic Tracking and Stability Analysis of Soft Pneumatic Actuators

Soft pneumatic actuators offer inherent compliance and safe interaction but remain difficult to model and control because of their highly nonlinear, distributed dynamics. We present a control-oriented data-driven modeling and control framework that decomposes actuator behavior into a nonlinear static equilibrium model...

Nithin S. Kumar, Eric J. Barth · 0 citations
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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