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A simulation tool for physics-informed control of biomimetic soft robotic arms

Abstract:

Due to an infinite number of degrees of freedom, soft robotic arms remain challenging to control. Past work has drawn inspiration from biological structures–for example the elephant trunk–to design and control biomimetic soft robotic arms. However, to date, the models used to inform the control of biomimetic arms lack generalizability, and largely rely on qualitative assumptions. Here, we present a computationally efficient methodology to control fiber-based slender soft robotic arms inspired...

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Publication status:
Published
Peer review status:
Peer reviewed

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Publisher copy:
10.1109/LRA.2023.3234819

Authors


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Institution:
University of Oxford
Division:
MPLS
Department:
Mathematical Institute
Role:
Author
ORCID:
0000-0003-3597-7973
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Name:
Engineering and Physical Sciences Research Council
Grant:
EP/R020205/1
Publisher:
IEEE
Journal:
IEEE Robotics and Automation Letters More from this journal
Volume:
8
Issue:
2
Pages:
936 - 943
Publication date:
2023-01-06
Acceptance date:
2022-12-11
DOI:
EISSN:
2377-3766
Language:
English
Keywords:
Pubs id:
1314939
Local pid:
pubs:1314939
Deposit date:
2022-12-13

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