2 papers
cs.RO2025
Toward Dynamic Control of Tendon-driven Continuum Robots using Clarke Transform
Christian Muhmann, Reinhard M. Grassmann, Max Bartholdt +1
In this paper, we propose a dynamic model and control framework for tendon-driven continuum robots (TDCRs) with multiple segments and an arbitrary number of tendons per segment. Ou…
cs.RO2024
Learning-based Nonlinear Model Predictive Control of Articulated Soft Robots using Recurrent Neural Networks
Hendrik Schäfke, Tim-Lukas Habich, Christian Muhmann +3
Soft robots pose difficulties in terms of control, requiring novel strategies to effectively manipulate their compliant structures. Model-based approaches face challenges due to th…