Control Strategies for Soft Robotic Manipulators: A Survey

被引：473

作者：

Thuruthel, Thomas George ^{[1
]}

Ansari, Yasmin ^{[1
]}

Falotico, Egidio ^{[1
]}

Laschi, Cecilia ^{[1
]}

机构：

[1] Scuola Super Sant Anna, Biorobot Inst, Soft Robot Lab, Pisa, Italy

来源：

SOFT ROBOTICS | 2018年 / 5卷 / 02期

关键词：

continuum robots; soft robots; manipulation; dynamic controllers; kinematic controllers; machine learning; CONTINUUM MANIPULATORS; MORPHOLOGICAL COMPUTATION; NEURAL-NETWORK; DYNAMIC-MODEL; KINEMATICS; IMPLEMENTATION; FEEDBACK; DRIVEN; DESIGN; BODY;

D O I：

10.1089/soro.2017.0007

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

With the rise of soft robotics technology and applications, there have been increasing interests in the development of controllers appropriate for their particular design. Being fundamentally different from traditional rigid robots, there is still not a unified framework for the design, analysis, and control of these high-dimensional robots. This review article attempts to provide an insight into various controllers developed for continuum/soft robots as a guideline for future applications in the soft robotics field. A comprehensive assessment of various control strategies and an insight into the future areas of research in this field are presented.

引用

页码：149 / 163

页数：15

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