Skip to Main content Skip to Navigation
Journal articles

Control Design for Soft Robots based on Reduced Order Model

Abstract : Inspired by nature, soft robots promise disruptive advances in robotics. Soft robots are naturally compliant and exhibit nonlinear behavior, which makes their study challenging. No unified framework exists to control these robots, especially when considering their dynamics. This work proposes a methodology to study this type of robots around a stable equilibrium point. It can make the robot converge faster and with reduced oscillations to a desired equilibrium state. Using computational mechanics, a large-scale dynamic model of the robot is obtained and model reduction algorithms enable the design of low order controller and observer. A real robot is used to demonstrate the interest of the results.
Document type :
Journal articles
Complete list of metadatas

Cited literature [33 references]  Display  Hide  Download
Contributor : Maxime Thieffry <>
Submitted on : Monday, October 22, 2018 - 4:05:21 PM
Last modification on : Tuesday, October 6, 2020 - 4:26:09 PM
Long-term archiving on: : Wednesday, January 23, 2019 - 4:52:44 PM


Files produced by the author(s)



Maxime Thieffry, Alexandre Kruszewski, Christian Duriez, Thierry-Marie Guerra. Control Design for Soft Robots based on Reduced Order Model. IEEE Robotics and Automation Letters, IEEE 2019, 4 (1), pp.25-32. ⟨10.1109/LRA.2018.2876734⟩. ⟨hal-01901031⟩



Record views


Files downloads