Related papers: Optimal Control of a Soft CyberOctopus Arm

This paper entails application of the energy shaping methodology to control a flexible, elastic Cosserat rod model. Recent interest in such continuum models stems from applications in soft robotics, and from the growing recognition of the…

This paper presents an application of the energy shaping methodology to control a flexible, elastic Cosserat rod model of a single octopus arm. The novel contributions of this work are two-fold: (i) a control-oriented modeling of the…

Inspired by the embodied intelligence of biological creatures like the octopus, the soft robotic arm utilizes its highly flexible structure to perform various tasks in the complex environment. While the classic Cosserat rod theory…

Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems continue to attract the attention of biologists and roboticists…

Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we demonstrate, for the first time, closed-loop control of the configuration space variables of a soft robotic arm, composed…

In this article, a biophysically realistic model of a soft octopus arm with internal musculature is presented. The modeling is motivated by experimental observations of sensorimotor control where an arm localizes and reaches a target. Major…

Muscular hydrostats, such as octopus arms or elephant trunks, lack bones entirely, endowing them with exceptional dexterity and reconfigurability. Key to their unmatched ability to control nearly infinite degrees of freedom is the…

The current work is a qualitative study that aims to explore the implementation of Twisted and Coiled Artificial Muscles (TCAMs) for actuating and replicating the bending motion of an octopus-like soft robot arm underwater. Additionally, it…

Continuum robotic grasping, inspired by biological appendages such as octopus arms and elephant trunks, provides a versatile and adaptive approach to object manipulation. Unlike conventional rigid-body grasping, continuum robots leverage…

Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…

Compared with traditional rigid-body robots, soft robots not only exhibit unprecedented adaptation and flexibility but also present novel challenges in their modeling and control because of their infinite degrees of freedom. Most of the…

The octopus arm is a neuromechanical system that involves a complex interplay between peripheral nervous system (PNS) and arm musculature. This makes the arm capable of carrying out rich maneuvers. In this paper, we build a model for the…

Many technical solutions are bio-inspired. Octopus-inspired robotic arms belong to continuum robots which are used in minimally invasive surgery or for technical system restoration in areas difficult-toaccess. Continuum robot missions are…

Finite element methods have been successfully used to develop physics-based models of soft robots that capture the nonlinear dynamic behavior induced by continuous deformation. These high-fidelity models are therefore ideal for designing…

The design and control of soft robots operating in fluid environments requires a careful understanding of the interplay between large elastic body deformations and hydrodynamic forces. Here we show that this interplay leads to novel…

We automate soft robotic hand design iteration by co-optimizing design and control policy for dexterous manipulation skills in simulation. Our design iteration pipeline combines genetic algorithms and policy transfer to learn control…

We propose reaching steps towards the real-time strain control of multiphysics, multiscale continuum soft robots. To study this problem fundamentally, we ground ourselves in a model-based control setting enabled by mathematically precise…

We investigate optimal reachability and grasping problems for a planar soft manipulator, from both a theoretical and numerical point of view. The underlying control model describes the evolution of the symmetry axis of the device, which is…

This paper presents an analytical framework to study the geometry arising when a soft continuum arm grasps a planar object. Both the arm centerline and the object boundary are modeled as smooth curves. The grasping problem is formulated as…

This paper proposes SoftGM, an octopus-inspired distributed control architecture for segmented soft robotic arms that learn to reach targets in contact-rich environments using online obstacle discovery without relying on global obstacle…