Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment

Cosimo Della Santina, Robert K. Katzschmann, Antonio Bicchi, Daniela Rus

Research output: Contribution to journalArticlepeer-review

196 Scopus citations

Abstract

Leveraging the elastic bodies of soft robots promises to enable the execution of dynamic motions as well as compliant and safe interaction with an unstructured environment. However, the exploitation of these abilities is constrained by the lack of appropriate control strategies. This work tackles for the first time the development of closed-loop dynamic controllers for a continuous soft robot. We present two architectures designed for dynamic trajectory tracking and surface following, respectively. Both controllers are designed to preserve the natural softness of the robot and adapt to interactions with an unstructured environment. The validity of the controllers is proven analytically within the hypotheses of the model. The controllers are evaluated through an extensive series of simulations, and through experiments on a physical soft robot capable of planar motions.

Original languageEnglish
Pages (from-to)490-513
Number of pages24
JournalInternational Journal of Robotics Research
Volume39
Issue number4
DOIs
StatePublished - 1 Mar 2020
Externally publishedYes

Keywords

  • Soft robotics
  • flexible arms
  • model-based control
  • motion control
  • soft control

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