Jinzhu Peng

Modeling and Trajectory Tracking Control for a Rope-Driven Soft Robotic Arm Based on State-Attracted Functions

In this article, a biomimetic rope-driven soft robotic arm (RDSRA) is designed with its kinematic and dynamic modeling, incorporating the bending and adsorption structures of an elephant trunk and the lamellar structure of a gecko toe to grasp objects of various shapes and materials. Then, a state a