Optimization of Soft Actuator Control in a Continuum Robot

Optimization of Soft Actuator Control in a Continuum Robot

This study presents a quasi-static optimization framework for the pressure-based control of a multi-segment soft continuum manipulator. The proposed method circumvents traditional curvature and length-based modeling by directly identifying the quasi-static input–output relationship between actuator...

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Bibliographic Details
Main Authors: Oleksandr Sokolov, Serhii Sokolov, Angelina Iakovets, Miroslav Malaga
Format: Article
Language:English
Published: MDPI AG 2025-07-01
Series:Actuators
Subjects:
system optimization
control strategy
system identification
transfer function
soft actuators
Online Access:https://www.mdpi.com/2076-0825/14/7/352
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