Control Strategies for an Octopus-like Soft Manipulator

Simone Cacace, Anna Lai, Paola Loreti

Abstract

We investigate a reachability control problem for a soft manipulator inspired to an octopus arm. Cases modelling mechanical breakdowns of the actuators are treated in detail: we explicitly characterize the equilibria, and we provide numerical simulations of optimal control strategies.

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Paper Citation


in Harvard Style

Cacace S., Lai A. and Loreti P. (2019). Control Strategies for an Octopus-like Soft Manipulator.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-380-3, pages 82-90. DOI: 10.5220/0007921700820090


in Bibtex Style

@conference{icinco19,
author={Simone Cacace and Anna Lai and Paola Loreti},
title={Control Strategies for an Octopus-like Soft Manipulator},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2019},
pages={82-90},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007921700820090},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Control Strategies for an Octopus-like Soft Manipulator
SN - 978-989-758-380-3
AU - Cacace S.
AU - Lai A.
AU - Loreti P.
PY - 2019
SP - 82
EP - 90
DO - 10.5220/0007921700820090