软体机器人建模与控制技术研究进展

Soft robots have such features as hyper redundancy, large deformation, and nonlinearity, and its precise control for grasping and manipulating the desired objects is a widely concerned problem. In this paper, the existing soft robot control technologies are divided into three categories: model-based control and model-free control, open-loop control and closed-loop control, classical control and intelligent control, according to whether to establish a mathematical model of the robot, whether to use sensor feedback, and what kind of control algorithm to be used. The research statuses of soft robots in modeling, feedback, and control algorithm are expounded and summarized, respectively. Finally, the problems and challenges of the soft robot control technology are discussed, and its future development is prospected.