This repository contains lab activities and exercises related to the implementation of a model-based kinematic controller for soft robots under the assumption of Piecewise Constant Curvature (PCC). The exercises aim to control soft robots composed of 1-segment and 2-segment configurations to reach specified target locations in space.
This project implements a model-based kinematic control approach for soft robots using the PCC assumption. The lab focuses on controlling robots in a flexible environment by manipulating arcs and evaluating their position through forward kinematics and controllers.
- Model-Based Kinematic Controller: Control strategy based on mathematical models for accurately determining and controlling robot configurations.
- Piecewise Constant Curvature (PCC) Model: Assumes soft robots as segments with continuous curvatures for simplicity and computational modeling.
- Multi-Segment Control: Extends the modeling to multiple segments for more complex and precise movements.
The control relies on the PCC model, utilizing transformations and mappings that dictate the in-plane and out-of-plane behavior of soft robot segments. This model also considers rotational effects for 1-segment and 2-segment cases.