Kinematic modeling and observer based control of soft robot using real-time Finite Element Method


This paper aims at providing a novel approach to modeling and controlling soft robots. Based on real-time Finite Element Method (FEM), we obtain a globally defined discrete-time kinematic model in the workspace of soft robots. From the kinematic equations, we deduce the soft-robot Jacobian matrix and discuss the conditions to avoid singular configurations… (More)
DOI: 10.1109/IROS.2016.7759810


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