Discrete Cosserat Static Model-Based Control of Soft Manipulator

Haihong Li, Lingxiao Xun, Gang Zheng, Federico Renda

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


In this letter, the continuous Cosserat static model is re-formulated by employing the piecewise linear strain (PLS) approach, which can obtain the analytic formula of the model to facilitate the controller design. The robust closed-loop control architecture based on the PLSCosserat static model for the soft arm around its workspace is then established. To validate the performance of the proposed model-based control scheme, the point-to-point and time-varying trajectory tracking experiments under external disturbances have been conducted on the soft manipulator actuated by cables.

Original languageBritish English
Pages (from-to)1739-1746
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number3
StatePublished - 1 Mar 2023


  • model-based control
  • PLS Cosserat static model
  • Soft manipulator


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