Visual Servoing for Pose Control of Soft Continuum Arm in a Structured Environment
Shivani Kamtikar,
Samhita Marri,
Benjamin Walt
et al.
Abstract:For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image, accurate control models and sensors to perceive the shape of the arm, both of which can be hard to implement in a soft robot. This letter circumvents these challenges by presenting a deep neural network-based method to perform smooth and robust 3D positioning tasks on a soft arm … Show more
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