SOURCE-LINKED INTELLIGENCE
Collocated Shape Regulation for Soft Robots
Controlling the shape of a continuum soft robot typically requires an accurate dynamic model and actuation of all degrees of freedom. We show that regulating only the actuated coordinates, through collocated shape control, achieves provably stable convergence of those coordinates and, under an explicit compatibility condition, of the entire robot shape. While collocated control is a cornerstone of high-performance motion control in rigid robotics, extending this formulation to continuum soft robots has remained challenging due to the complexity of their dynamics. We present the first general f
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- arXiv · AI, language, vision and robotics · 2026-09-23T07:31:10.000Z
First collected: 2026-09-24T01:22:21.678Z. This is not the publication date.