Collocated Shape Regulation for Soft Robots

Abstract:Controlling the shape of a continuum soft robot typically requires an accurate dynamic model and actuation of all degrees of freedom. We show that regulating only the actuated coordinates, through collocated shape control, achieves provably stable convergence of those coordinates and, under an explicit compatibility condition, of the entire robot shape. While collocated control is a cornerstone of high-performance motion control in rigid robotics, extending this formulation to continuum soft robots has remained challenging due to the complexity of their dynamics. We present the first general framework for collocated control of continuum soft robots and derive a unified family of controllers, including PD, PID, PsatID, and their counterparts with compensation and cancellation components. The framework unifies existing approaches while introducing new controller designs. In particular, we develop three classes of PD and PID like regulators with local, semi-global, and global stability guarantees, and provide rigorous convergence analyses for each. Extensive experimental validation demonstrates the effectiveness of the proposed methods across different model discretizations and controller parameters. The resulting framework provides practical design guidelines for selecting and implementing controllers with known stability guarantees, without requiring a complete dynamic model of the robot

Robotics (cs.RO); Systems and Control (eess.SY)

arXiv:2609.27469 [cs.RO]

(or arXiv:2609.27469v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.27469 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.

Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.

Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.