5 accepted papers
Soft robotic manipulators promise manipulation dexterity and compliance, but these properties make them hard to control due to the uncertainties and nonlinearities in their dynamics. Towards solving these challenges, this paper proposes a real-time dynamic control approach for a pneumatically actuat
Concentric Tube Robots (CTR) have the potential to enable effective minimally invasive surgeries. While extensive modeling and control work have been proposed in the past decade, limited efforts have been made to improve the path tracking performance from the perspective of manipulability, which can
The objective of this letter is to investigate the dynamic control of a soft robotic arm. First, a modular soft robotic hardware and an affordable actuator-space encoder were presented. We then discussed the soft robot modeling, and adaptive passivity control strategy with stability proof. The propo
Growing global demand for food, coupled with continuing labor shortages, motivate the need for automated agricultural harvesting. While some specialty crops (e.g., apples, peaches, blueberries) can be harvested via existing harvesting modalities, fruits such as blackberries and raspberries require d…
In this article, the control problem of one segment pneumatically actuated soft robotic arm is investigated in detail. To date, extensive prior work has been done in soft robotics kinematics and dynamics modeling. Proper controller designs can complement the modeling work since they are able to comp