@inproceedings{9b376ae51c514d2389aa225606b366c1,
title = "Kinematic-Model-Free Tip Position Control of Reconfigurable and Growing Soft Continuum Robots",
abstract = "Soft robots have many advantages over their rigid counterparts. These include their inherent compliance, lightweight and high adaptability to cluttered workspaces. Soft continuum robots, biologically inspired snake-like robots, are hyper-redundant and highly deformable. These robots can be challenging to control due to their complex kinematic and dynamic models. This paper presents a novel kinematic-model-free controller that uses a quasi-static assumption in order to control the tip-position of soft continuum robots with threadlike actuation while compensating for gravity simultaneously. The controller was tested on simulated continuum soft robots to demonstrate its ability to guide the tip while following a given trajectory. Novel kinematic-model-free control methods are introduced for soft robots' route and length control. The robustness of the controller is demonstrated with an actuator-failure test. The kinematic-model-free controller provides an adaptive control method for static, re-configuring, and growing soft continuum robots with threadlike actuation.",
author = "Ahmad Alattar and Hmida, {Ikhlas Ben} and Federico Renda and Petar Kormushev",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE International Conference on Soft Robotics, RoboSoft 2023 ; Conference date: 03-04-2023 Through 07-04-2023",
year = "2023",
doi = "10.1109/RoboSoft55895.2023.10121994",
language = "British English",
series = "2023 IEEE International Conference on Soft Robotics, RoboSoft 2023",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "2023 IEEE International Conference on Soft Robotics, RoboSoft 2023",
address = "United States",
}