Stiffness Control of Deformable Robots Using Finite Element Modeling
Stiffness Control of Deformable Robots Using Finite Element Modeling M. Koehler, A.M. Okamura and C. Duriez Abstract. Due to the complexity of modeling deformable materials and infinite degrees of freedom, the rich background of rigid robot control has not been transferred to soft robots. Thus, most model-based control techniques developed…