Prescribed-Time Contracting-Boundary Control of a Tendon-Driven Flexible Arm

arXiv:2609.22963 · cs.RO · Submitted 2026-09-19 · Read on arXiv

cs.RO

Submitted: 2026-09-19

Updated: 2026-09-23

Terminology

• Accuracy — 17× in this paper · explained in 1 episode
• Calibration — 15× in this paper · explained in 7 episodes
• Alignment — 11× in this paper · explained in 1 episode
• Lyapunov function — 8× in this paper · explained in 2 episodes
• Benchmark — 4× in this paper · explained in 2 episodes
• Consistency — 4× in this paper · explained in 3 episodes
• Steering — 3× in this paper · explained in 2 episodes
• Failure Modes — 2× in this paper · explained in 3 episodes
• Alignment Problem — 1× in this paper · explained in 1 episode
• Allocator — 1× in this paper · explained in 1 episode
• Closed-Loop System — 1× in this paper · explained in 4 episodes
• Geometric Mismatch — 1× in this paper · explained in 2 episodes
• Hysteresis — 1× in this paper · explained in 3 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Self-consistency — 1× in this paper · explained in 2 episodes

Sources

• Do Rigid-Body Simulators Dream of Soft Robots? Learning Contact-Rich Manipulation for Tendon-Driven Continuum Robots

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