Implementation of a Cosserat Rod-Based Configuration Tracking Controller on a Multi-Segment Soft Robotic Arm
Azadeh Doroudchi,Zhi Qiao,Wenlong Zhang,Spring Berman,Azadeh Doroudchi,Zhi Qiao,Wenlong Zhang,Spring Berman
Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we experimentally demonstrate, for the first time, closed-loop control of the configuration space variables of a soft robotic arm, composed of independently controllable segments, using a Cosserat rod model of the robot and the distributed sensing and actuation capabilities of the segm...
