The Soft Inverted Pendulum with Affine Curvature

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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 languageEnglish
Title of host publicationProceedings of the 59th IEEE Conference on Decision and Control, CDC 2020
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages4135-4142
ISBN (Electronic)978-1-7281-7447-1
DOIs
Publication statusPublished - 2020
Event59th IEEE Conference on Decision and Control, CDC 2020 - Virtual, Jeju Island, Korea, Republic of
Duration: 14 Dec 202018 Dec 2020

Conference

Conference59th IEEE Conference on Decision and Control, CDC 2020
CountryKorea, Republic of
CityVirtual, Jeju Island
Period14/12/2018/12/20

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