Nonlinear Coordinate Transformation and Trajectory Tracking Control of an Underactuated Soft Robot Driven by Dielectric Elastomers.
Giovanni SoletiPaolo Roberto MassenioJulian KunzeGianluca RizzelloPublished in: RoboSoft (2024)
Keyphrases
- coordinate transformation
- mobile robot
- trajectory tracking control
- motion planning
- single phase
- sliding mode
- robotic systems
- robot manipulators
- variable structure
- autonomous robots
- stability analysis
- multi robot
- path planning
- input output
- trajectory tracking
- real time
- humanoid robot
- robot control
- vision system
- visual servoing
- degrees of freedom
- position and orientation
- neural network controller
- nonlinear dynamics
- evolutionary algorithm