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Coupled State-Space Modelling, Control, and Policy Distillation for Hybrid Rigid-Pneumatic Manipulators
Hybrid manipulators combine motorized rigid joints with pressure-actuated origami segments. Published arms of this kind are controlled with decoupled per-DOF loops, and the cost of this approximation has not been quantified, because the coupled model needed to measure it has not been built. This pap
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