Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer

Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer

© 2019 IEEE. This paper presents a computationally efficient method to model and simulate soft robots. Finite element methods enable us to simulate and control soft robots, but require us to work with a large dimensional system. This limits their use in real-time simulation and makes those methods l...

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Bibliographic Details
Main Authors: Katzschmann, Robert K., Thieffry, Maxime, Goury, Olivier, Kruszewski, Alexandre, Guerra, Thierry-Marie, Duriez, Christian, Rus, Daniela
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Language:English
Published: IEEE 2021
Online Access:https://hdl.handle.net/1721.1/137235

Internet

https://hdl.handle.net/1721.1/137235

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