Modeling and Control of an Octopus Inspired Soft Arm under Prescribed Spatial Motion Constraints

Precise control of soft robots remains challenging due to their highly compliant nature. Existing kinematic models may not enable accurate control performance as they do not account for actuation forces and dynamics. This paper tackles the problem of precise motion control for a soft robotic arm wit...

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Veröffentlicht in:	Journal of intelligent & robotic systems 2023-12, Vol.109 (4), p.94, Article 94
Hauptverfasser:	Ma, Jie, Han, Zhiji, Liu, Zhijie, Li, Guotao, He, Wei, Ge, Shuzhi Sam
Format:	Artikel
Sprache:	eng
Schlagworte:	Accuracy Actuation Actuators Artificial Intelligence Control Control algorithms Controllers Deformation Design Electrical Engineering Engineering Kinematics Mathematical models Mechanical Engineering Mechatronics Motion control Muscles Regular Paper Robot arms Robot control Robot dynamics Robotics Robots Simulation Soft robotics
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