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Abstract
We present a model-based approach for the control of the shape of a tendon-driven soft arm. The soft robotic structure, which is inspired by an octopus arm, has variable section that allows to obtain variable curvature when actuated. The main goal of our control system is to obtain a target curvature at a desired section of the arm. The controller combines input shaping and feedback integral control in order to overcome modeling errors and constant disturbances. Simulations show the coupling between the control loop and a dynamic model of the arm.
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Authors and Affiliations
The BioRobotics Institute, Scuola Superiore Sant Anna, Polo SantAnna Valdera, Via Rinaldo Piaggio 34, Pontedera, 56025, Pisa, Italy
Dario Lunni, Matteo Cianchetti, Egidio Falotico & Cecilia Laschi
Center for Micro-BioRobotics, Italian Institute of Technology, Polo SantAnna Valdera, Via Rinaldo Piaggio 34, Pontedera, 56025, Pisa, Italy
Dario Lunni & Barbara Mazzolai
- Dario Lunni
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- Matteo Cianchetti
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- Egidio Falotico
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- Cecilia Laschi
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- Barbara Mazzolai
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Corresponding author
Correspondence toDario Lunni.
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Editors and Affiliations
University of Lincoln, Lincoln, United Kingdom
Michael Mangan
Stanford University, Stanford, California, USA
Mark Cutkosky
Universitat Pompeu Fabra, Barcelona, Spain
Anna Mura
Universitat Pompeu Fabra, Barcelona, Spain
Paul F.M.J. Verschure
University of Sheffield, Sheffield, United Kingdom
Tony Prescott
Bristol University, Bristol, United Kingdom
Nathan Lepora
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Lunni, D., Cianchetti, M., Falotico, E., Laschi, C., Mazzolai, B. (2017). A Closed Loop Shape Control for Bio-inspired Soft Arms. In: Mangan, M., Cutkosky, M., Mura, A., Verschure, P., Prescott, T., Lepora, N. (eds) Biomimetic and Biohybrid Systems. Living Machines 2017. Lecture Notes in Computer Science(), vol 10384. Springer, Cham. https://doi.org/10.1007/978-3-319-63537-8_51
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