Dynamic Control of Soft Robots

Maxime Thieffry (1, 2, 3) , Alexandre Kruszewski (1, 3) , Olivier Goury (1, 3) , Thierry-Marie Guerra (2) , Christian Duriez (1, 3)

1 CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
2 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
3 DEFROST - Deformable Robots Simulation Team

Soft robots present several advantages. However, one of the main challenges of this new field of robotics is to control these robots. The methods used to control rigid robots are not directly relevant and new approaches have to be invented or updated to be applied to this kind of robots. This paper introduces control solutions for soft robots studies taking into account dynamics of the system.

Mots clés: Soft robotics; Order reduction; Automatic Control

Domaines: Automatique; Robotique [cs.RO]; Systèmes et contrôle [cs.SY]

Maxime Thieffry, Alexandre Kruszewski, Olivier Goury, Thierry-Marie Guerra, Christian Duriez. Dynamic Control of Soft Robots. IFAC World Congress, Jul 2017, Toulouse, France. ⟨hal-01558844⟩