Leveraging the elastic bodies of soft robots promises to enable the execution of dynamic motions as well as compliant and safe interaction with an unstructured environment. However, the exploitation of these abilities is constrained by the lack of appropriate control strategies. This work tackles for the first time the development of closed-loop dynamic controllers for a continuous soft robot. We present two architectures designed for dynamic trajectory tracking and surface following, respectively. Both controllers are designed to preserve the natural softness of the robot and adapt to interactions with an unstructured environment. The validity of the controllers is proven analytically within the hypotheses of the model. The controllers are evaluated through an extensive series of simulations, and through experiments on a physical soft robot capable of planar motions.

中文翻译：

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基于模型的平面软机器人动态反馈控制：轨迹跟踪与环境交互

利用软机器人的弹性体有望实现动态运动的执行以及与非结构化环境的合规和安全交互。然而，这些能力的利用受到缺乏适当控制策略的限制。这项工作首次解决了连续软机器人闭环动态控制器的开发问题。我们提出了两种分别为动态轨迹跟踪和表面跟踪而设计的架构。两种控制器都旨在保持机器人的自然柔软性并适应与非结构化环境的交互。控制器的有效性在模型的假设内被分析证明。控制器通过一系列广泛的模拟进行评估，