Adaptive Dynamic Sliding Mode Control of Soft Continuum Manipulators
Amirhossein Kazemipour,Oliver Fischer,Yasunori Toshimitsu,Ki Wan Wong,Robert K. Katzschmann,Amirhossein Kazemipour,Oliver Fischer,Yasunori Toshimitsu,Ki Wan Wong,Robert K. Katzschmann
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based control scheme for soft continuum robots. Our dynamic model is based on the Euler-Lagrange approach, but it uses a more accurate description of the robot's inertia a...
