Multi-Gait Locomotion Planning and Tracking for Tendon-Actuated Terrestrial Soft Robot (TerreSoRo)
Arun Niddish Mahendran,Caitlin Freeman,Alexander H. Chang,Michael McDougall,Patricio A. Vela,Vishesh Vikas,Arun Niddish Mahendran,Caitlin Freeman,Alexander H. Chang,Michael McDougall,Patricio A. Vela,Vishesh Vikas
The adaptability of soft robots makes them ideal candidates to maneuver through unstructured environments. However, locomotion challenges arise due to complexities in modeling the body mechanics, actuation, and robot-environment dynamics. These factors contribute to the gap between their potential and actual autonomous field deployment. A closed-loop path planning framework for soft robot locomoti...
