Abstract:Soft robotic manipulators consisting of serially stacked segments combine actuation and structure in an integrated design. This design can be miniaturised while providing suitable actuation for potential applications that may include endoluminal surgery and inspections in confined environments. The control of these robots, however, remains challenging, due to the difficulty in accurately modelling the robots, in coping with their redundancies, and in solving their full inverse kinematics. In this work, we expl… Show more
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