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ICRA 2026

2898 papers · 2898 AI summaries · 2026

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1779 result(s) for “Soft Robot Control” Page 6 of 36
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Real-Time Model Predictive Control of Nonlinear Coupled Joints Using MPPI: Application to Humanoid Ankle Joints AI summary
Gunoo Park, Jaewan Bak, Yunsoo Seo, Euncheol Im, Hoseok LEE, Jongbok Lee, Nicolas Mansard, Jongwon Lee, Yisoo Lee
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TOCALib: Optimal Control Library with Interpolation for Bimanual Manipulation and Obstacles Avoidance AI summary
Yulia Danik, Dmitry Makarov, Aleksandra Arkhipova, Sergei Davidenko, Aleksandr Panov
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Morphogenetic Assembly and Adaptive Control for Heterogeneous Modular Robots AI summary
Chongxi Meng, Da Zhao, Yifei Zhao, Minghao Zeng, Yanmin Zhou, Zhipeng Wang, Bin He
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Design and Implementation of Elastic Structure Preserving Vibration Suppression Control for Flexible Link Robots Using IMU Measurements AI summary
Alexander Kitzinger, Hubert Gattringer, Andreas Müller
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Optimal Control Approach for Non-Prehensile Ball Juggling Using a 7-DoF Manipulator AI summary
Joel Ramadani, Vasilije Rakcevic, Riddhiman Laha, Arne Sachtler, Valentin Le Mesle, Achim J. Lilienthal, Sami Haddadin
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Learning Actuator-Aware Spectral Submanifolds for Precise Control of Continuum Robots AI summary
Paul Leonard Wolff, Hugo Buurmeijer, Luis Pabon, John Irvin Alora, Mark Leone, Roshan Kaundinya, Amirhossein Kazemipour, Robert Kevin Katzschmann, Marco Pavone
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Embodiment‑Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Control AI summary
Quanquan Peng, Yunfeng Lin, Yufei Xue, Jiangmiao Pang, Weinan Zhang
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Autonomous Drone-Ground Robot Alignment through Ground Robot Visual Servo Control with Drone Detection and Tilt Correction AI summary
Sean Clark Dominguez, Jeanette Pao, Immanuel Paradela, John Mel Bolaybolay, Earl Ryan Aleluya, Francis Jann Alagon, Sherwin Guirnaldo, Carl John Salaan, Kazunori Ohno, Yoshito Okada, Argel Bandala, Abu Ubaidah Shamsudin
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A Large Language Model-Based Mission Manager for Autonomous UAV Control AI summary
Milos Cihlar
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Smooth Human-Robot Shared Control for Autonomous Orchard Monitoring with UGVs AI summary
Cheikh Melainine El Bou, Michele Focchi, Michael Chang, Marco Camurri, Karl Dietrich von Ellenrieder
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SoftMimic: Learning Compliant Whole-body Control from Examples AI summary
Gabriel Margolis, Michelle Wang, Nolan Fey, Pulkit Agrawal
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Lyapunov Stability-Driven Control Algorithm for Heterogeneous Multi-Robot Coordination AI summary
Fatemeh Rekabi Bana, Mazen Bahaidarah, Ognjen Marjanovic, Farshad Arvin
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PERAL: Perception-Aware Motion Control for Passive LiDAR Excitation in Spherical Robots AI summary
Shenghai Yuan, Jason Wai Hao Yee, Weixiang Guo, Zhongyuan Liu, Thien-Minh Nguyen, Lihua Xie
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Force Allocation Control for Redundant-Torso Biomimetic Quadrupeds via Virtual Force and Fully Actuated System Approach AI summary
Zhiqin Zhuo, Ke Huang, Zhigang Wu, Jianping Jiang
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3D Robotic Control of Micro-Scale Optical Swarms at an Interface AI summary
Nicholas Carlisle, Volker Nock, Martin Williams, Catherine Whitby, Jack L Y Chen, Ebubekir Avci
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Impedance Control Design Framework Using Commutative Map Between SE(3) and se(3) AI summary
Jonghyeok Kim, Minchang Sung, Youngjin Choi, Jonghoon Park, Wan Kyun Chung
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Decentralized Admittance Control for a Multi�manipulator System: Theory and Experiments AI summary
Graziano Carriero, Monica Sileo, Sebastiano Fregnan, Francesco Pierri, Fabrizio Caccavale, Yiannis Karayiannidis
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Feasible Rolling Trajectory Generation and Control for Tensegrity Robots AI summary
Songyuan Liu, Qingkai Yang, Zichen Tao, Yun Gui, Jiaxu Shi, Hao Fang
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Reference-Free Sampling-Based Model Predictive Control AI summary
Fabian Schramm, Pierre Fabre, Nicolas Perrin-Gilbert, Justin Carpentier
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ORN-CBF: Learning Observation-Conditioned Residual Neural Control Barrier Functions Via Hypernetworks AI summary
Bojan Derajic, Sebastian Bernhard, Wolfgang Hoenig
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Structure-Exploiting Sequential Quadratic Programming for Model-Predictive Control AI summary
Armand Jordana, Sebastien Kleff, Avadesh Meduri, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
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Bi-Hap: A Bi-Directional Learning-Based Control and Momentum-Based Haptic Feedback System for Dexterous In-Hand Telemanipulation AI summary
Haoyang Wang, Haoran Guo, Zhengxiong Li, Lingfeng Tao
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A MATLAB/Simulink-Based Sim2Real Control Framework for the Unitree G1 Using ROS 2 and MuJoCo AI summary
Leffer Trochez, Nicanor Quijano, Jorge Lopez-Jimenez, Carlos Francisco Rodriguez Herrera
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Image-Based Closed-Loop Control of a Robotically Steerable Endoscopic Cannula for Minimally Invasive Neurosurgery AI summary
Nidhi Malhotra, Revanth Konda, Jaydev P. Desai
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CBF-RL: Safety Filtering Reinforcement Learning in Training with Control Barrier Functions AI summary
Lizhi Yang, Blake Werner, Massimiliano de Sa, Aaron Ames
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Multi-Robot Segregation Using Finite-Time MPC with Chernoff Bound-Based Asynchronous Motion Smoothing AI summary
Richa Dubey, Shreyash Gupta, Saurabh Chaudhary, Niladri Sekhar Tripathy, Suril Vijaykumar Shah
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Dynamic Movement Primitives with Control Barrier Functions for Constrained Trajectory Planning AI summary
Federico Vesentini, Daniele Meli, Nicola Sansonetto, Luca Di Persio, Riccardo Muradore
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RENet: Fault-Tolerant Motion Control for Quadruped Robots Via Redundant Estimator Networks under Visual Collapse AI summary
Yueqi ZHang, Quancheng Qian, Taixian Hou, Peng Zhai, Xiaoyi Wei, Kangmai Hu, Jiafu Yi, Lihua ZHang
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DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction Via Guided Diffusion AI summary
Dvij Kalaria, Sudarshan S Harithas, Pushkal Katara, Sangkyung Kwak, Sarthak Bhagat, Shankar Sastry, Srinath Sridhar, Sai Vemprala, Ashish Kapoor, Jonathan Chung-Kuan Huang
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Best of Sim and Real: Decoupled Visuomotor Manipulation Via Learning Control in Simulation and Perception in Real AI summary
Jialei Huang, Zhao-Heng Yin, Yingdong Hu, Shuo Wang, Xingyu Lin, Yang Gao
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SEEC: Stable End-Effector Control with Model-Enhanced Residual Learning for Humanoid Loco-Manipulation AI summary
Jaehwi Jang, Zhuoheng Wang, Ziyi Zhou, Feiyang Wu, Ye Zhao
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PMG: Parameterized Motion Generator for Human-Like Locomotion Control AI summary
Chenxi Han, Yuheng Min, Zihao Huang, Ao Hong, Hang Liu, Yi Cheng, Houde Liu
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Nonlinear Model Predictive Control for Robotic Pushing of Planar Objects with Generic Shape AI summary
Sara Federico, Marco Costanzo, Marco De Simone, Ciro Natale
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MUJICA: Multi-Skill Unified Joint Integration of Control Architecture for Wheeled-Legged Robots AI summary
Yuqi LI, Peng Zhai, Yueqi ZHang, Xiaoyi Wei, Quancheng Qian, Zhengxu He, Qianxiang Yu, Lihua ZHang
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Consensus Driven Dynamical Systems Control for Dual-Arm Handover AI summary
Debojit Das, Siddhi Jain, Rajesh Kumar, Harish Palanthandalam-Madapusi
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Safe and Optimal Variable Impedance Control Via Certified Reinforcement Learning AI summary
Shreyas Kumar, Ravi Prakash
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Safe Whole-Body Loco-Manipulation Via Combined Model and Learning-Based Control AI summary
Alexander Schperberg, Yeping Wang, Stefano Di Cairano
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MonoMPC: Monocular Vision Based Navigation with Learned Collision Model and Risk-Aware Model Predictive Control AI summary
Basant Sharma, Prajyot Jadhav, Pranjal Paul, Madhava Krishna, Arun Kumar Singh
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RL-Augmented Adaptive Model Predictive Control for Bipedal Locomotion Over Challenging Terrain AI summary
Junnosuke Kamohara, Feiyang Wu, Chinmayee Wamorkar, Seth Hutchinson, Ye Zhao
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CLF-RL: Control Lyapunov Function Guided Reinforcement Learning AI summary
Kejun Li, Zachary Olkin, Yisong Yue, Aaron Ames
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Causality-Based Parametric Control Barrier Function for Safe Multi-Vehicle Interaction AI summary
Yiwei Lyu, Caleb Chang, John M. Dolan
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Safety-Critical Reactive Motion Using Constrained Variable Admittance Control with Dual-Type Proximity Sensors AI summary
Seung Jae Moon, Hongsik Yim, Hyunchang Kang, Jaeyun Sim, Dawoon Jung, Hyouk Ryeol Choi
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Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots AI summary
Lorenzo Amatucci, Joao Moreira de Sousa Pinto, Giulio Turrisi, Dominique Orban, Victor Barasuol, Claudio Semini
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Manipulating Elasto-Plastic Objects with 3D Occupancy and Learning-Based Predictive Control AI summary
Zhen ZHANG, Xiangyu CHU, Yunxi TANG, Lulu ZHAO, Jing HUANG, Zhongliang Jiang, K. W. Samuel Au
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Intelligent Mechanical Characterization of Date Fruits for Automated Harvesting Grippers AI summary
Shahd Shami, Obadah Wali, Eric Feron, Shinkyu Park, Syed Muhammad Alam
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Closed-Loop Multimodal Sensory Training Enhances the Proprioceptive-Motor Pathway: Low-Load Automaticity and Fine Motor Control AI summary
Qian Cheng, Zhouhaotian Yin, Yuan Liu
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Motion Compensation and Adaptive Force Control Via iOCT�FBG Sensor Fusion for Robotic Subretinal Injection AI summary
Aoqi Long, Tianle Wu, Chongyang She, Mojtaba Esfandiari, Peter Gehlbach, Russell H. Taylor, Ioan Iulian Iordachita
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Multi-Robot Obstacle-Aware Shepherding of Non-Cohesive Target Agents AI summary
Cinzia Tomaselli, Stefano Covone, Andreagiovanni Reina, Mario di bernardo
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CoorGrasp: Coordinated Contact Control for Adaptive Dexterous Grasping under Uncertainty AI summary
Mingrui Yu, Yongpeng Jiang, Yongyi Jia, Yi Ren, Xiang LI
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Underactuated Legged-Rolling Locomotion of a Minimal Two-Rod Tensegrity Robot with Self-Recovery Capability AI summary
Yanqiu Zheng, Yuxuan Xiang, YUETONG HE, Fumihiko Asano, Isao T. Tokuda
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