Model-Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges
Model-Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges
Continuum soft robots are mechanical systems entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and soft appendices of vertebrate animals (e.g., an elephant's trunk, a monkey's tail). This work aims to introduce the control theorist perspective to this novel development in …