A Closed Loop Shape Control for Bio-inspired Soft Arms

We present a model-based approach for the control of the shape of a tendon-driven soft arm. The soft robotic structure, which is inspired by an octopus arm, has variable section that allows to obtain variable curvature when actuated. The main goal of our control system is to obtain a target curvature at a desired section of the arm. The controller combines input shaping and feedback integral control in order to overcome modeling errors and constant disturbances. Simulations show the coupling between the control loop and a dynamic model of the arm