Kangjia Fu

Accelerating Inverse Kinematic Solutions for a Cable-Driven Soft Robotic Manipulator via Physics-Informed Neural Network

Cable-driven soft manipulators, with inherent compliance and hyper-redundancy, offer significant advantages in unstructured environments but present formidable challenges in modeling of inverse kinematics due to nonlinear deformations and underactuation. In this paper, building on a modified forward