Pith Number

pith:VZU46BZT

pith:2026:VZU46BZTBCUHSUUHXAKQXEQG7U

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BiPneu: Design and Control of a Bipolar-Pressure Pneumatic System for Soft Robots

Alan Gao, Vedant Naik, Xiaobo Tan, Xinyu Zhou, Yu Mei

BiPneu delivers a bipolar-pressure pneumatic system and dual-mode sliding-mode controller that tracks positive and negative pressure references with lower errors than PID or model predictive control.

arxiv:2605.12804 v1 · 2026-05-12 · cs.RO

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Claims

C1strongest claim

Extensive simulation and experiments demonstrate the superior performance of DM-SMC in tracking step and sinusoidal pressure references compared with both advanced model predictive controllers and well-tuned PID controllers. Experimental results show average absolute errors of 1.44 kPa in multi-step tests and 4.23 kPa in sinusoidal tracking, corresponding to reductions of 11.9% and 35.6% relative to PID control.

C2weakest assumption

The hybrid electro-pneumatic model accurately captures asymmetric inflation-deflation dynamics, valve nonlinearities, and switching-induced flow disturbances sufficiently well for the DM-SMC design to generalize beyond the tested conditions.

C3one line summary

BiPneu delivers a scalable bipolar-pressure pneumatic platform and DM-SMC controller that reduces average absolute tracking error to 1.44 kPa on steps and 4.23 kPa on sinusoids versus PID baselines in soft-robot experiments.

References

22 extracted · 22 resolved · 0 Pith anchors

[1] Exploration of underwater life with an acoustically controlled soft robotic fish, 2018

[2] A novel soft robotic glove with positive-negative pneumatic actuator for hand rehabilitation, 2020

[3] Simultaneous shape reconstruction and force estimation of soft bending actuators using distributed inductive curvature sensors, 2024

[4] Efficient jacobian-based inverse kinematics with sim-to-real transfer of soft robots by learning, 2022

[5] Programmable pressure control in pneumatic soft robots with 2-way 2-state solenoid valves, 2024

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-18T03:09:12.657719Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ae69cf073308a8795287b8150b9206fd0b461ee06e34dea5c02610b15df02259

Aliases

arxiv: 2605.12804 · arxiv_version: 2605.12804v1 · doi: 10.48550/arxiv.2605.12804 · pith_short_12: VZU46BZTBCUH · pith_short_16: VZU46BZTBCUHSUUH · pith_short_8: VZU46BZT

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/VZU46BZTBCUHSUUHXAKQXEQG7U \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: ae69cf073308a8795287b8150b9206fd0b461ee06e34dea5c02610b15df02259

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "30fd979358e77d664ba899b83a130f22402dcd3cf6c0cea37e211f417a6f749c",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-12T22:54:01Z",
    "title_canon_sha256": "69c068414347263781fb3a2eb9c0ed8454f7c751123816e3d3b4ec6f4620bb2a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.12804",
    "kind": "arxiv",
    "version": 1
  }
}