PhD Position Model-Based and Data-Driven Nonlinear Control of Continuum Soft Robots

Soft Robots are robotic systems with purposefully designed compliant elements embedded into their mechanical structure. Continuum soft robots are inspired from the invertebrate part of the animal kingdom, and they have continuum bodies resembling tentacles or elephant trunks. Leveraging the elastic bodies of soft robots promises to enable the execution of dynamic motions as well as compliant and safe interaction with an unstructured environment. However, the exploitation of these abilities is constrained by the lack of appropriate control strategies.