Control Strategies for an Octopus-like Soft Manipulator

Simone Cacace; Anna Chiara Lai; Paola Loreti

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Paper

Control Strategies for an Octopus-like Soft Manipulator

Topics: Distributed Control Systems; Modeling, Simulation and Architecture; Optimization Algorithms

In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 82-90, 2019 , Prague, Czech Republic

Authors: Simone Cacace ¹ ; Anna Chiara Lai ² and Paola Loreti ²

Affiliations: ¹ Dipartimento di Matematica e Fisica, Università degli Studi Roma Tre, Largo S. Murialdo, 1, 00154 Rome and Italy ; ² Dipartimento di Scienze di Base e Applicate per l’Ingegneria, Sapienza Università di Roma, Via A. Scarpa, 16, 00161 Rome and Italy

Keyword(s): Soft Manipulators, Octopus Arm, Control Strategies.

Related Ontology Subjects/Areas/Topics: Distributed Control Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Modeling, Simulation and Architectures ; Optimization Algorithms ; Robotics and Automation

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 several formats:

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; ISSN 2184-2809, SciTePress, pages 82-90. DOI: 10.5220/0007921700820090

@conference{icinco19,
author={Simone Cacace. and Anna Chiara 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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Cacace, S.
AU - Lai, A.
AU - Loreti, P.
PY - 2019
SP - 82
EP - 90
DO - 10.5220/0007921700820090
PB - SciTePress