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Research questionHow can multi-segment soft robotic arms track full-body shapes in real time under coupled dynamics and external loading?Full-shape tracking is harder than tip control because deformation couples segments and changes with gravity, inertia, and external loading. The controller must remain accurate as the number of independently actuated segments grows while responding quickly to dynamic motion.
Machine Learning
Robotics
Latest papersRecent research connected to this question, newest first.Real-Time Shape Control of Multi-Segment Soft Robotic Arms Using Koopman Operators with Global and Local ObservablesThe work studies multi-segment soft robotic arms using numerical and physical experiments. Numerical results cover up to 10 independently actuated segments; physical experiments cover 3- and 5-segment arms, tip speeds up to 0.6 m/s, distal payloads up to 400 g, recovery from a 7 N lateral disturbance, and a confined-space demonstration. The proposed system uses Koopman-based model predictive control with global and local observables.research paper · Sep 2, 2026
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