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Dynamic Motion Control of Multi-Segment Soft Robots Using Piecewise Constant Curvature Matched with an Augmented Rigid Body Model.

Robert K. KatzschmannCosimo Della SantinaYasunori ToshimitsuAntonio BicchiDaniela Rus
Published in: RoboSoft (2019)
Keyphrases
  • motion control
  • rigid body
  • linear model
  • low dimensional
  • closed form
  • physical constraints