On the motion/stiffness decoupling property of articulated soft robots with application to model-free torque iterative learning control,The International Journal of Robotics Research

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On the motion/stiffness decoupling property of articulated soft robots with application to model-free torque iterative learning control
The International Journal of Robotics Research ( IF 7.5 ) Pub Date : 2020-08-28 , DOI: 10.1177/0278364920943275
Riccardo Mengacci ₁ , Franco Angelini _{1,

2} , Manuel G Catalano ₂ , Giorgio Grioli ₂ , Antonio Bicchi _{1,

2} , Manolo Garabini ₁

Affiliation

This article tackles the problem of controlling articulated soft robots (ASRs), i.e., robots with either fixed or variable elasticity lumped at the joints. Classic control schemes rely on high-auth...

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