Model-Based Engineering Framework for Soft Continuum Robots

Abstract

Soft continuum robots are gaining attention for their potential to enable inherently safe and adaptive human-robot collaboration, especially in dynamic industrial environments. However, the development of these robots varies drastically and no standardization exists. This is particularly problematic for soft continuum robots, because of the variety of different actuation methods, and control strategies. This paper addresses the challenge of engineering soft continuum robots by introducing a generalized framework that enables hardware abstraction and controller reuse. The approach combines a modular robot design by extending the Unified Robot Description Format (URDF) information model to support soft continuum robotics. Enabling the decoupling of hard- and software development. For the concept validation, a modular tendon-driven continuum robot was developed and integrated into the framework. The extended Unified (Continuum) Robot Description Format (U(C)RDF) enables visualization and controller parameterization through standardized interfaces, allowing for reusable software components across different actuation principles. This approach achieves a flexible and scalable engineering process for soft continuum robots, bridging the gap between research prototypes and industrial deployment. It lays the foundation for future developments in model-based design, automated control, and interoperability of soft continuum robotic systems.