A Gait Pattern Generator for Closed-Loop Position Control of a Soft Walking Robot

This paper presents an approach to control the position of a gecko-inspired soft robot in Cartesian space. By formulating constraints under the assumption of constant curvature, the joint space of the robot is reduced in its dimension from nine to two. The remaining two generalized coordinates descr...

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Bibliographic Details
Main Authors: Lars Schiller, Arthur Seibel, Josef Schlattmann
Format: Article
Published: Frontiers Media S.A. 2020-07-01
Series:Frontiers in Robotics and AI
Online Access:https://www.frontiersin.org/article/10.3389/frobt.2020.00087/full