气动软驱动器的任务空间模型控制
原标题：Task-space model-based control of pneumatic soft actuators
产业动态AI 72
来源：arXiv cs.RO发布时间待核实
arXiv:2608.27186v1 Announce Type: new Abstract: Soft actuators enable dexterous and compliant interaction, but closed-loop task-space control remains challenging due to strong nonlinearities, distributed deformation, and uncertainty in their dynamics. This paper presents a real-time dynamic-model-based task-space feedback and estimation framework based on a non-minimal coordinate discrete elastic rod model formulated in absolute coordinates with holonomic constraints.