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
fDate :
9/1/2015 12:00:00 AM
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"
Conference_Titel :
Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
DOI :
10.1109/IROS.2015.7353509
