3 accepted papers
Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we experimentally demonstrate, for the first time, closed-loop control of the configuration space variables of a soft robotic arm, composed of independently controllable segments, using…
Due to the nature of the complex spatiotemporal dynamics of stimuli-responsive soft materials, closed-loop control of hydrogel-actuated mechanisms has remained a challenge. This letter demonstrates, for the first time, closed-loop trajectory tracking control in real-time of a millimeter-scale, two d
This letter addresses the kinematic modeling and control of hyper-redundant robots inspired by the octopus arm. We propose a discrete multi-segment model in which each segment is a 6-DoF Gough-Stewart parallel platform. Our model is novel in that it can reproduce all generic motions of an octopus ar