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Open access
Aug 2026
Application and evaluation of reinforcement learning for two-dimensional trajectory tracking in snake-like robots
Context—Snake-like robots are biomimetic systems that can move effectively in narrow, complex, and restricted environments thanks to their modular and flexible body structures composed of numerous serially connected joints. These characteristics offer significant advantages, particularly in areas such as pipeline inspe...
Furkan Mezgil, M. Bingöl
· Pamukkale Üniversitesi Mühen... · 0 citations
Sep 2026
Nonlinear H∞ optimal control of reconfigurable robot manipulator via adaptive torque estimation
This study examines the performance of reconfigurable robot manipulators operating in uncertain environments, addressing the challenge of mitigating interference noise in Harmonic Drive (HD) signal transmission and presents a simplified robust Adaptive Dynamic Programming (ADP) framework to implement H∞ control for RRM...
Qiao-Fan Shi, Xiao-Hong Zhu, Yu Zheng et al.
· European Conference on Elect... · 0 citations
Preprint
Sep 2026
Design and Attitude Control of an Underwater Quadruped Robot
Legged robots are versatile on land, but their use in underwater environments remains limited. Extending quadruped locomotion to water enables amphibious mobility with applications in inspection, environmental monitoring and disaster response. This paper presents the design, modeling, and experimental validation of a r...
Davide Molinaroli, Mohit Singh, Kostas Alexis
· 0 citations
Aug 2026
Spheres in motion: Adaptive dynamic programming for robotic intelligence
The potential of the proposed Adaptive Dynamic Programming (ADP) framework for improving trajectory-tracking performance in spherical robots under uncertain operating conditions is demonstrated.
Hadi Sazgar, Ali Keymasi‐Khalaji, Aliakbar Ghasemzadeh
· Journal of Vibration and Con... · 0 citations
Conference
Open access
2026
High Dimensional Modeling and Motion Control Technology for Soft Robotic
This paper analyzes in detail the principles, advantages and limitations of four core control methods based on motion models, machine learning, morphological computation and sensor feedback, and point out the key technical difficulties such as underactuated system dynamics, nonlinear hysteresis effect and flexible sens...
Zerun Song
· MATEC Web of Conferences · 0 citations
Current Progress on Control Strategies for Underwater Soft Robots: A Comprehensive Review.
Underwater soft robots (USRs) operate in highly dynamic, unstructured, and sensor-limited environments where fluid-structure interaction, compliance, and nonlinear actuation significantly complicate closed-loop control compared with both rigid underwater robots and terrestrial soft robots. As a result, classical underw...
L. V, Ritik Raj, Ankur Gupta et al.
· Bioinspiration & Biomimetics · 0 citations