A Unified and Modular Model Predictive Control Framework for Soft Continuum Manipulators under Internal and External Constraints
Filippo A. Spinelli,Robert K. Katzschmann,Filippo A. Spinelli,Robert K. Katzschmann
Fluidically actuated soft robots have promising capabilities such as inherent compliance and user safety. The control of soft robots needs to properly handle nonlinear actuation dynamics, motion constraints, workspace limitations, and variable shape stiffness, so having a unique algorithm for all these issues would be extremely beneficial. In this work, we adapt Model Predictive Control (MPC), pop...
