2025/07/14 by Kim, Seung Hyun, Guo, Jiamiao, Tekinalp, Arman +9
#FOS: Computer and information sciences #Robotics (cs.RO)
paper · doi:10.48550/arxiv.2507.10121
Soft continuum arms (SCAs) promise versatile manipulation through mechanical compliance, for assistive devices, agriculture, search applications, or surgery. However, SCAs' real-world use is challenging, partly due to their hard-to-control non-linear behavior. Here, a simulation framework for SCAs modularly assembled out of fiber reinforced elastomeric enclosures (FREEs) is developed and integrated with a video-tracking system for experimental testing and control design.