Leveraging the elastic bodies of soft robots promises to enable the execution of dynamic
motions as well as compliant and safe interaction with an unstructured environment …

The control of kinematic modeling in a four wheel omni-directional robot (FWOR) is very
difficult. Because you have to adjust the speed of the four DC motors. The speed of DC …

This article tackles the problem of controlling articulated soft robots (ASRs), ie, robots with
either fixed or variable elasticity lumped at the joints. Classic control schemes rely on high …

Continuum manipulators with flexibility and compliant characteristics have attracted the
attention of more and more researchers due to its wide application prospect. This paper …

Walking on different terrains leads to different biomechanics, which motivates the
development of exoskeletons for assisting on walking according to the type of a terrain. The …

Fully exploiting soft robots' capabilities requires devising strategies that can accurately
control their movements with the limited amount of control sources available. This task is …

The performance achieved with traditional model-based control system design approaches
typically relies heavily on accurate modeling of the motion dynamics. However, modeling the …

This article develops a systematic framework for dynamic tracking control of soft robots. To
this end, we propose a new projector for the proper orthogonal decomposition algorithm to …

This article addresses the problem of simultaneous and robust closed-loop control of joint
stiffness and position, for a class of antagonistically actuated pneumatic soft robots with rigid …

Quadrupeds deployed in real-world scenarios need to be robust to unmodelled dynamic
effects. In this work, we aim to increase the robustness of quadrupedal periodic forward …