Related papers: Control of a Soft Robotic Arm Using a Piecewise Un…
The compliance of soft robotic arms renders the development of accurate kinematic & dynamical models especially challenging. The most widely used model in soft robotic kinematics assumes Piecewise Constant Curvature (PCC). However, PCC…
In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
In this article, the control problem of one section pneumatically actuated soft robotic arm is investigated in detail. To date, extensive prior work has been done in soft robotics kinematics and dynamics modeling. Proper controller designs…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…
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…
This paper presents the application of a learning control approach for the realization of a fast and reliable pick-and-place application with a spherical soft robotic arm. The arm is characterized by a lightweight design and exhibits…
Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an…
The Piecewise Constant Curvature (PCC) model is the most widely used soft robotic modeling and control. However, the PCC fails to accurately describe the deformation of the soft robots when executing dynamic tasks or interacting with the…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level controls specifications. The methodology is based on…
Soft robots are promising for manipulation tasks thanks to their compliance, safety, and high degree of freedom. However, the commonly used bidirectional continuum segment design means soft robotic manipulators only function in a limited…
Flying manipulators are aerial drones with attached rigid-bodied robotic arms and belong to the latest and most actively developed research areas in robotics. The rigid nature of these arms often lack compliance, flexibility, and smoothness…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…
We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…