Soft robots characterize operational safety due to inherent compliance from their soft mechanism, whereas their mechanism enhances the difficulty in accurate closed-loop control. To explore their applicability in manipulation tasks, in this article, we propose a visual servoing pushing controller considering the effect of contact. The controller is designed to simultaneously complete the positioning and manipulation tasks. To further improve the manipulation performance, an active pushing force regulation method is proposed and integrated into the controller. The proposed control algorithm is validated experimentally. The results show that the controller guarantees the convergence to the image error and meanwhile, it improves the pushing manipulation performance.

中文翻译：

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具有主动推力调节的软机器人视觉伺服推力控制

软机器人由于其软机制固有的顺从性而具有操作安全性，而它们的机制增加了精确闭环控制的难度。为了探索它们在操纵任务中的适用性，在本文中，我们提出了一种考虑接触效应的视觉伺服推动控制器。该控制器旨在同时完成定位和操纵任务。为了进一步提高操纵性能，提出了一种主动推力调节方法并将其集成到控制器中。所提出的控制算法进行了实验验证。结果表明，控制器保证了对图像误差的收敛，同时提高了推操作性能。