2022
DOI: 10.48550/arxiv.2204.13710
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A Unified and Modular Model Predictive Control Framework for Soft Continuum Manipulators under Internal and External Constraints

Abstract: The emerging field of fluidically actuated soft robotic control has promising capabilities such as inherent compliance and user safety. However, these are counterbalanced by issues not common to rigid robots, like nonlinear actuation dynamics, motion constraints, workspace limitations, and variable shape stiffness. In this work, we have adapted Model Predictive Control (MPC), that has recently seen an exponential rise in popularity and fields of applications, to a soft robotic arm called SoPrA. We have address… Show more

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