Task-Space Control of Continuum Robots using Underactuated Discrete Rod Models
Caleb Rucker,Eric J. Barth,Joshua Gaston,James C. Gallentine,Caleb Rucker,Eric J. Barth,Joshua Gaston,James C. Gallentine
Underactuation is a core challenge associated with controlling soft and continuum robots, which possess theoreti-cally infinite degrees of freedom, but few actuators. However, $m$ actuators may still be used to control a dynamic soft robot in an m-dimensional output task space. In this paper we develop a task-space control approach for planar continuum robots that is robust to modeling error and r...
