• DocumentCode
    3709221
  • Title

    Model-free control framework for multi-limb soft robots

  • Author

    Vishesh Vikas;Piyush Grover;Barry Trimmer

  • Author_Institution
    Biomimetics Lab, Tufts University, MA 02155 USA
  • fYear
    2015
  • fDate
    9/1/2015 12:00:00 AM
  • Firstpage
    1111
  • Lastpage
    1116
  • Abstract
    The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics and robot-environment interaction. Traditionally, soft robot control is performed by modeling kinematics using exact geometric equations and finite element analysis.
  • Keywords
    "Mathematical model","Optimization","Actuators","Robot kinematics","Friction","Adaptation models"
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
  • Type

    conf

  • DOI
    10.1109/IROS.2015.7353509
  • Filename
    7353509
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3709221