Despite having proven successful in generating precise motions under dynamic conditions in highly deformable soft-bodied robots, model based techniques are also prone to robustness issues connected to the intrinsic uncertain nature of the dynamics of these systems. This letter aims at tackling this challenge, by extending the augmented rigid robot formulation to a stable representation of three dimensional motions of soft robots, under Piecewise Constant Curvature hypothesis. In turn, the equivalence between soft-bodied and rigid robots permits to derive effective adaptive controllers for soft-bodied robots, achieving perfect posture regulation under considerable errors in the knowledge of system parameters. The effectiveness of the propose...
This article addresses the problem of simultaneous and robust closed-loop control of joint stiffness...
Several recent designs of soft robots feature locomotion mechanisms that entail orchestrating change...
Human beings can achieve a high level of motor performance that is still unmatched in robotic system...
Despite having proven successful in generating precise motions under dynamic conditions in highly de...
© 2019 IEEE. Despite the emergence of many soft-bodied robotic systems, model-based feedback control...
Despite the emergence of many soft-bodied robotic systems, model-based feedback control for soft rob...
Despite the emergence of many soft-bodied robotic systems, model-based feedback control has remained...
Despite the emergence of many soft-bodied robotic systems, model-based feedback control has remained...
Soft robots are intrinsically underactuated mechanical systems that operate under uncertainties and ...
From a functional standpoint, classic robots are not at all similar to biological systems. If compar...
The complex nature of soft robot dynamics calls for the development of models specifically tailored ...
The application of model based adaptive control to an underactuated system representative of a class...
Soft robots are made of compliant and deformable materials and can perform tasks challenging for con...
This paper proposes a model-based control design approach for a broad class of soft robots, having t...
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots....
This article addresses the problem of simultaneous and robust closed-loop control of joint stiffness...
Several recent designs of soft robots feature locomotion mechanisms that entail orchestrating change...
Human beings can achieve a high level of motor performance that is still unmatched in robotic system...
Despite having proven successful in generating precise motions under dynamic conditions in highly de...
© 2019 IEEE. Despite the emergence of many soft-bodied robotic systems, model-based feedback control...
Despite the emergence of many soft-bodied robotic systems, model-based feedback control for soft rob...
Despite the emergence of many soft-bodied robotic systems, model-based feedback control has remained...
Despite the emergence of many soft-bodied robotic systems, model-based feedback control has remained...
Soft robots are intrinsically underactuated mechanical systems that operate under uncertainties and ...
From a functional standpoint, classic robots are not at all similar to biological systems. If compar...
The complex nature of soft robot dynamics calls for the development of models specifically tailored ...
The application of model based adaptive control to an underactuated system representative of a class...
Soft robots are made of compliant and deformable materials and can perform tasks challenging for con...
This paper proposes a model-based control design approach for a broad class of soft robots, having t...
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots....
This article addresses the problem of simultaneous and robust closed-loop control of joint stiffness...
Several recent designs of soft robots feature locomotion mechanisms that entail orchestrating change...
Human beings can achieve a high level of motor performance that is still unmatched in robotic system...