Fem-based trajectory tracking control of a soft trunk robot

Ke Wu (1, 2) , Gang Zheng (1, 2) , Junfeng Zhang (3)

1 DEFROST - Deformable Robots Simulation Team
2 CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
3 HDU - Hangzhou Dianzi University

We model the soft trunk robot using Finite Element Method. • Model-based controller has been realized to track a given trajectory. • The control strategy has been convincingly proved by experimental testing.

Mots clés: Soft Robotics Finite Element Method Trajectory Planning Trajectory Tracking Control

Domaines: Robotique [cs.RO]

Ke Wu, Gang Zheng, Junfeng Zhang. Fem-based trajectory tracking control of a soft trunk robot. Robotics and Autonomous Systems, 2022, 150, pp.103961. ⟨10.1016/j.robot.2021.103961⟩. ⟨hal-03509082⟩