A Review of Soft Robot Modeling and Control

被引：0
|
作者：
Mei D. [1 ,2 ]
Zhao X. [1 ,2 ]
Tang G. [1 ,2 ]
Zhao C. [1 ,2 ]
Li B. [3 ,4 ]
Luo M. [1 ,2 ]
Wang Y. [1 ,2 ]
机构：
[1] School of Mechanical and Electrical Engineering, Hohai University, Changzhou
[2] Jiangsu Key Laboratory of Special Robotics Technology, Hohai University, Changzhou
[3] School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an
[4] Shaanxi Province Key Laboratory for Intelligent Robots, Xi’an Jiaotong University, Xi’an
来源：
Jiqiren/Robot | 2024年 / 46卷 / 02期
关键词：
control algorithm; control technology; mathematical model; sensor feedback; soft robot;
D O I：
10.13973/j.cnki.robot.230010
中图分类号：
学科分类号：
摘要：
Soft robots have such features as hyper redundancy, large deformation, and nonlinearity, and its precise control for grasping and manipulating the desired objects is a widely concerned problem. In this paper, the existing soft robot control technologies are divided into three categories: model-based control and model-free control, open-loop control and closed-loop control, classical control and intelligent control, according to whether to establish a mathematical model of the robot, whether to use sensor feedback, and what kind of control algorithm to be used. The research statuses of soft robots in modeling, feedback, and control algorithm are expounded and summarized, respectively. Finally, the problems and challenges of the soft robot control technology are discussed, and its future development is prospected. © 2024 Chinese Academy of Sciences. All rights reserved.
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页码：234 / 256
页数：22
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