Abstract:Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, threedimensional motion of soft bodies alongside actuator dynamics and constraints, both of which are present in shape-memoryalloy (SMA)-powered soft robots. This article addresses both concerns with a robust feedback control scheme, demonstrating state tracking control for a soft robot manipulator of this type. Our controller uses a static beam bendin… Show more
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