Nonlinear Modes as a Tool for Comparing the Mathematical Structure of
Dynamic Models of Soft Robots
Nonlinear Modes as a Tool for Comparing the Mathematical Structure of
Dynamic Models of Soft Robots
Continuum soft robots are nonlinear mechanical systems with theoretically infinite degrees of freedom (DoFs) that exhibit complex behaviors. Achieving motor intelligence under dynamic conditions necessitates the development of control-oriented reduced-order models (ROMs), which employ as few DoFs as possible while still accurately capturing the core characteristics of the theoretically infinite-dimensional …