Control Oriented Modeling of Soft Robots: The Polynomial Curvature Case
IEEE Robotics and Automation Letters, pp. 290-298, 2020.
The complex nature of soft robot dynamics calls for the development of models specifically tailored on the control application. In this letter, we take a first step in this direction by proposing a dynamic model for slender soft robots, taking into account the fully infinite-dimensional dynamical structure of the system. We also contextua...More
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