Field Model Identification and Control of a Mobile Electromagnet for Remote Actuation of Soft Robots

The actuation of miniaturized robots through external magnetic fields has great potential for medical applications. The controllability properties of the miniaturized robots are affected by magnetic field generation modality. In this work, the magnetic field of a mobile electromagnet, notably capable to generate a desired magnetic field in...

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...

Model and Control of R-Soft Inverted Pendulum

Soft robots enable safe and robust operations in unstructured environments. However, the nonlinearities of their continuum structure complicate the accomplishment of classic robotic tasks, such as pick and place. In this work, we propose the R-Soft Inverted Pendulum, a Soft Inverted Pendulum (SIP) actuated only by a revolute joint at the base...