Feedback Regulation of Elastically Decoupled Underactuated Soft Robots

The intrinsically underactuated and nonlinear nature of continuum soft robots makes the derivation of provably stable feedback control laws a challenging task. Most of the works so far circumvented the issue either by looking at coarse fully-actuated approximations of the dynamics or by imposing quasi-static assumptions. In this letter, we...

An experimental validation of the polynomial curvature model: identification and optimal control of a soft underwater tentacle

The control possibilities for soft robots have long been hindered by the lack of accurate yet computationally treatable dynamic models of soft structures. Polynomial curvature models propose a solution to this quest for continuum slender structures. Nevertheless, the results produced with this class of models have been so far essentially...