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Real-Time Shape Control of Multi-Segment Soft Robotic Arms Using Koopman Operators with Global and Local Observables

arXiv · AI, language, vision and robotics · article · Sep 2, 2026 · UTC

Multi-segment soft robotic arms can continuously reconfigure their body shapes for safe interaction, but tip control alone is insufficient for constrained-space tasks. Therefore, shape control is a more important task for multi-segment soft arms than tip control, but remains challenging due to the high dimensionality and nonlinear dynamics of continuum deformation. In existing work, shape control accuracy is defined by the error in the global frame (global shape error). For multi-segment soft arms, using only global shape error as the control objective is insufficient, as segment coupling, gra

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