P-satI-D Shape Regulation of Soft Robots
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DOI: 10.1109/lra.2022.3221304
Abstract: Soft robots are intrinsically underactuated mechanical systems that operate under uncertainties and disturbances. In these conditions, this letter proposes two versions of PID-like control laws with a saturated integral action for the particularly challenging shape… read more here.
Keywords: sati shape; shape regulation; soft robots; regulation soft ... See more keywords