Bootstrapping the Dynamic Gait Controller of the Soft Robot Arm
Rudolf Szadkowski,Muhammad Sunny Nazeer,Matteo Cianchetti,Egidio Falotico,Jan Faigl,Rudolf Szadkowski,Muhammad Sunny Nazeer,Matteo Cianchetti,Egidio Falotico,Jan Faigl
In this paper, we propose a novel dynamic gait controller for the repetitive behavior of soft robot manipulators performing routine tasks. Compliance with soft robots is advantageous when the robot interacts with living organisms and other fragile objects. However, predicting and controlling repetitive behavior is challenging because of hysteresis and non-linear dynamics governing the interactions...
