Abstract
We introduce here a novel under-actuated mechanical system motivated by recent advances in soft robotics. We derive its governing equations, discuss its properties, and consider a solution for the stabilization of its unstable equilibrium. The results we propose here are intended as a first step towards dealing with the much more challenging general problem of controlling full fledged soft robots subject to non negligible external forces and operating at high accelerations.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 59th IEEE Conference on Decision and Control, CDC 2020 |
| Place of Publication | Piscataway, NJ, USA |
| Publisher | IEEE |
| Pages | 4135-4142 |
| ISBN (Electronic) | 978-1-7281-7447-1 |
| DOIs | |
| Publication status | Published - 2020 |
| Event | 59th IEEE Conference on Decision and Control, CDC 2020 - Virtual, Jeju Island, Korea, Republic of Duration: 14 Dec 2020 → 18 Dec 2020 |
Conference
| Conference | 59th IEEE Conference on Decision and Control, CDC 2020 |
|---|---|
| Country/Territory | Korea, Republic of |
| City | Virtual, Jeju Island |
| Period | 14/12/20 → 18/12/20 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise 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.