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Task-space model-based control of pneumatic soft actuators

arXiv · AI, language, vision and robotics · article · Aug 27, 2026 · UTC

Soft actuators enable dexterous and compliant interaction, but closed-loop task-space control remains challenging due to strong nonlinearities, distributed deformation, and uncertainty in their dynamics. This paper presents a real-time dynamic-model-based task-space feedback and estimation framework based on a non-minimal coordinate discrete elastic rod model formulated in absolute coordinates with holonomic constraints. The resulting structure preserves distributed mechanics while maintaining computational efficiency through sparse system matrices, enabling real-time control with up to 10 dis

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Evidence & attribution

arXiv · AI, language, vision and robotics · 2026-08-27T14:32:07.000Z

First collected: 2026-09-21T08:32:02.028Z. This is not the publication date.