The three-dimensional shape control for a soft robot

Abstract

A three-dimensional shape control algorithm for soft robot is proposed. Considering the characteristics of the soft robot with infinite degrees of freedom, the traditional control method for rigid robot is not applicable. Besides, the shape of the soft robot generated by four driven ropes changing is three-dimensional, so a complete description of the soft robot shape parameters is presented. The relation between soft robot shape parameters and driving cables length is deduced. Based on this expression, a shape control algorithm is designed and its stability is proved applying Lyapunov method. The simulation and verification experimental results indicate the stability and reliability of the proposed algorithm.