Geometrically-Exact Inverse Kinematic Control of Soft Manipulators With General Threadlike Actuators’ Routing

The inverse kinematic control of soft robots appears as an open challenge that has been the subject a number letters presented in last decade. Some solutions have provided based on specific assumptions robot’s shape or actuation mechanism. Other more generic approaches are characterized by significant computational cost low level accuracy for very high deformations. In effort to overcome some these limitations, here we present Geometrically-Exact (GE) kinematics controller, which can be applied manipulators having general threadlike actuators’ routing. Being GE, approach is suitable applications involving arbitrarily large bending and twisting, and, other side, it relies reduced Degrees Freedom (DOFs). We prove feasibility proposed Jacobian-based simulation with complex discontinuous