Control Strategies for an Octopus-like Soft Manipulator

Simone Cacace, Anna Lai, Paola Loreti

2019

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.

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