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Control Strategies for Soft Robotic Manipulators: A Survey
Thomas George Thuruthel1, Yasmin Ansari1, Egidio Falotico1
1Soft Robotics Laboratory, The Biorobotics Institute , Scuola Superiore Sant'Anna, Pisa, Italy .
Soft Robotics
|January 4, 2018
Summary
Soft robotics requires specialized controllers due to unique designs. This review offers insights into various control strategies for continuum robots, guiding future soft robotics applications.
Area of Science:
- Robotics
- Control Systems
- Mechanical Engineering
Background:
- Soft robotics is rapidly advancing, necessitating tailored control strategies.
- Unlike rigid robots, soft robots lack a unified framework for design, analysis, and control.
- High-dimensional nature of soft robots presents unique control challenges.
Purpose of the Study:
- To review and assess various control strategies for soft/continuum robots.
- To provide a guideline for developing controllers for soft robotic applications.
- To identify future research directions in soft robot control.
Main Methods:
- Comprehensive literature review of existing control strategies.
- Analysis and comparison of different control approaches for soft robots.
- Identification of trends and gaps in current research.
Main Results:
- Overview of diverse control methods applicable to soft robots.
- Assessment of the strengths and weaknesses of various control strategies.
- Identification of key challenges and opportunities in soft robot control.
Conclusions:
- A unified framework for soft robot control is still needed.
- Further research is required to develop robust and adaptable control systems.
- This review serves as a foundation for future advancements in soft robotics control.
Keywords:
continuum robotsdynamic controllerskinematic controllersmachine learningmanipulationsoft robotsMore Related Videos
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