Stable Real-Time Feedback Control of a Pneumatic Soft Robot

Sean Even,Tongjia Zheng,Hai Lin,Yasemin Ozkan-Aydin,Sean Even,Tongjia Zheng,Hai Lin,Yasemin Ozkan-Aydin

Soft actuators offer compliant and safe interaction with an unstructured environment compared to their rigid counterparts. However, control of these systems is often challenging because they are inherently under-actuated, have infinite degrees of freedom (DoF), and their mechanical properties can change by unknown external loads. Existing works mainly relied on discretization and reduction, suffer...