Piecewise Affine Curvature model: a Reduced-Order Model for Soft Robot-Environment Interaction Beyond PCC
Piecewise Affine Curvature model: a Reduced-Order Model for Soft Robot-Environment Interaction Beyond PCC
Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and manipulation capabilities and safe human-robot interactions. However, the interactions, or perturbations by external forces cause the …