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cs.RO2022
Dynamical Modeling and Control of Soft Robots with Non-constant Curvature Deformation
Zhanchi Wang, Gaotian Wang, Xiaoping Chen +1
The Piecewise Constant Curvature (PCC) model is the most widely used soft robotic modeling and control. However, the PCC fails to accurately describe the deformation of the soft ro…
cs.RO2022★ 1 cited
Control of a Soft Robotic Arm Using a Piecewise Universal Joint Model
Zhanchi Wang, Gaotian Wang, Xiaoping Chen +1
The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing e…