Published October 20, 2023
| Version v1
Conference paper
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Iterative Learning Controller for Tendon-Driven Continuum Soft Robots
Description
To exploit soft robots' versatility, the control problem
must be tackled. The main challenges depend on the continuum
dynamics and the need to use a feedforward control action.
To solve this challenge, this work proposes a feedforward
iterative learning controller. The algorithm updates
the torque action by means of both the model and data from
past trials. Then, we test the proposed controller via
experiments.