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Journal Articles Robotics and Autonomous Systems Year : 2022

Fem-based trajectory tracking control of a soft trunk robot

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Abstract

We model the soft trunk robot using Finite Element Method. • Model-based controller has been realized to track a given trajectory. • The control strategy has been convincingly proved by experimental testing.

Domains

Computer Science [cs] Robotics [cs.RO]
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Gang Zheng  : Connect in order to contact the contributor

https://hal.inria.fr/hal-03509082

Submitted on : Thursday, December 29, 2022-11:34:40 PM

Last modification on : Tuesday, January 3, 2023-10:16:57 AM

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Dates and versions

hal-03509082 , version 1 (29-12-2022)

Licence

Attribution - NoDerivatives - CC BY 4.0

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Cite

Ke Wu, Gang Zheng, Junfeng Zhang. Fem-based trajectory tracking control of a soft trunk robot. Robotics and Autonomous Systems, 2022, 150, pp.103961. ⟨10.1016/j.robot.2021.103961⟩. ⟨hal-03509082⟩

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CNRS INRIA CRISTAL INRIA2 CRISTAL-DEFROST UNIV-LILLE
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