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Module Number Adaptive Visual Shape Control for Serial Modular Soft Robots

arXiv · AI, language, vision and robotics · article · Aug 30, 2026 · UTC

Image based shape control provides a simple means of controlling the whole body configuration of soft robots. However, existing data driven approaches are typically developed for fixed robot structures and require new control data when the number of modules changes. This paper presents a module number adaptive visual shape control method for serial modular soft pneumatic robots. A controller trained only on single module actuation shape data is reused for robots with one to five modules by decomposing whole body camera images into local module patches. A single common module segmenter localize

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Evidence & attribution

arXiv · AI, language, vision and robotics · 2026-08-30T04:33:10.000Z

First collected: 2026-09-21T07:31:56.984Z. This is not the publication date.