Model-Based Dynamic Control of Soft Robots

Abstract : This work focuses on modeling and control of soft robots. It covers the entire development of the controller, from the modeling step to the practical experimental validation.From a theoretical point a view, large-scale dynamical systems along with model reduction algorithms are studied. In addition to the theoretical studies, different experimental setups are used to illustrate the results. A cable-driven soft robot and a pressurized soft arm are used to test the control algorithms. Through these different setups, we show that the method can handle different types of actuation, different geometries and mechanical properties. This emphasizes one of the interests of the method, its genericity.
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Contributor : Maxime Thieffry <>
Submitted on : Friday, November 29, 2019 - 8:31:04 AM
Last modification on : Monday, January 13, 2020 - 1:17:25 AM


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  • HAL Id : tel-02363267, version 2


Maxime Thieffry. Model-Based Dynamic Control of Soft Robots. Automatic. Université Polytechnique des Hauts-de-France, 2019. English. ⟨tel-02363267v2⟩



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