5 accepted papers
In-hand manipulation tasks using hand-like robotic grippers offer a promising approach to accomplish various tasks in a human-centered environment. Due to the inherent safety of soft robots, in-hand manipulations performed by soft robots provide great opportunities for future human-robot collaborati
Soft continuum robots enable new application areas in contrast to standard rigid robots, such as interaction with a varying environment. Due to their compliant continuous structure, they are inherently safe and adaptive to environmental conditions. In this paper, the interaction with the environment…
Providing smooth reference trajectories can effectively increase performance and accuracy of tracking control applications while overshoot and unwanted vibrations are reduced. Trajectory planning computations can often be simplified significantly by transforming the system dynamics into decoupled in
Adaptive structures comprise sensors, a control unit as well as actuators and are able to actively counteract to external disturbances. However, an actuator failure can lead to a significant performance degradation, which can be reduced by designing a reconfigurable control law. In this letter, a fa
Fast and exact motions of continuum robots are hardly seen so far. Partly this is caused by physical constraints, e.g. small available actuation forces. Another reason is the dynamic coupling between the actuators that cannot be neglected during fast motions. Therefore, a model-based MIMO controller…