Soft continuum robots have been accepted as a promising category of biomedical robots,
accredited to the robots' inherent compliance that makes them safely interact with their …

Performing daily interaction tasks such as opening doors and pulling drawers in
unstructured environments is a challenging problem for robots. The emergence of soft …

Abstract Purpose of Review We review recent advances in algorithmic development and
validation for modeling and control of soft robots leveraging the Koopman operator theory …

This paper presents Soft DAgger, an efficient imitation learning-based approach for training
control solutions for soft robots. To demonstrate the effectiveness of the proposed algorithm …

Control policies for soft robot arms typically assume quasi-static motion or require a hand-
designed motion plan. To achieve real-time planning and control for tasks requiring highly …

The effectiveness of continuous-time zeroing neural network (ZNN)(CZNN) in continuum
robot control has been preliminarily verified. However, CZNN is not friendly to digital devices …

Rigid joint manipulators are limited in their movement and degrees of freedom (DOF), while
continuum robots possess a continuous backbone that allows for free movement and …

Although the soft robot is gaining considerable popularity in dexterous and safe
manipulation, accurate motion control is still an open problem to be explored. Recent …

The growing interest in the flexibility and operational capabilities of soft manipulators in
confined spaces emphasizes the need for precise modeling and accurate motion control …

Controlling flexible and continuously structured continuum robots is a challenging task in the
field of robotics and control systems. This study explores the use of reinforcement learning …