Control Oriented Modeling of Soft Robots: The Polynomial Curvature Case

Cosimo Della Santina
Cosimo Della Santina

IEEE Robotics and Automation Letters, pp. 290-298, 2020.

Cited by: 0|Bibtex|Views14|DOI:https://doi.org/10.1109/LRA.2019.2955936
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Other Links: dblp.uni-trier.de

Abstract:

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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