Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching

Maja Trumic, Cosimo Della Santina, Kosta Jovanovic, Adriano Fagiolini

Research output: Contribution to journalArticleScientificpeer-review

1 Citation (Scopus)
17 Downloads (Pure)


Despite having proven successful in generating precise motions under dynamic conditions in highly deformable soft-bodied robots, model based techniques are also prone to robustness issues connected to the intrinsic uncertain nature of the dynamics of these systems. This letter aims at tackling this challenge, by extending the augmented rigid robot formulation to a stable representation of three dimensional motions of soft robots, under Piecewise Constant Curvature hypothesis. In turn, the equivalence between soft-bodied and rigid robots permits to derive effective adaptive controllers for soft-bodied robots, achieving perfect posture regulation under considerable errors in the knowledge of system parameters. The effectiveness of the proposed control design is demonstrated through extensive simulations.

Original languageEnglish
Pages (from-to)1934-1939
JournalIEEE Control Systems Letters
Issue number6
Publication statusPublished - 2021

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • Adaptation models
  • adaptive control
  • Adaptive control
  • flexible structures
  • Kinematics
  • modeling
  • robotics
  • Robots
  • Soft robotics
  • Solid modeling
  • Three-dimensional displays
  • uncertain systems.


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