Living Machines 2017: Biomimetic and Biohybrid Systems pp 567-573 | Cite as

A Closed Loop Shape Control for Bio-inspired Soft Arms

  • Dario Lunni
  • Matteo Cianchetti
  • Egidio Falotico
  • Cecilia Laschi
  • Barbara Mazzolai
Conference paper
First Online:
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10384)

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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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Dario Lunni
    • 1
    • 2
  • Matteo Cianchetti
    • 1
  • Egidio Falotico
    • 1
  • Cecilia Laschi
    • 1
  • Barbara Mazzolai
    • 2
  1. 1.The BioRobotics Institute, Scuola Superiore Sant Anna, Polo SantAnna ValderaPisaItaly
  2. 2.Center for Micro-BioRoboticsItalian Institute of Technology, Polo SantAnna ValderaPisaItaly

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