Model-Based Eversion Control of Soft Growing Robots With Pneumatic Actuation

This letter investigates the model based position control of soft growing robots with pneumatic actuation that extend according to principle known as eversion. A dynamical system which accounts for energy ideal gas is presented by employing port-Hamiltonian formulation. new law constructed an shaping approach. An adaptive observer employed compensate effect external forces, including gravity. Numerical simulations indicate proposed controller superior simpler algorithms.