Collocated Shape Regulation for Soft Robots

arXiv:2609.27469 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-23 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-23

Updated: 2026-09-23

Terminology

• Closed-Loop System — 15× in this paper · explained in 4 episodes
• Angular Error — 6× in this paper · explained in 1 episode
• Accuracy — 4× in this paper · explained in 1 episode
• PID Controller — 4× in this paper · explained in 2 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Constant Curvature — 3× in this paper
• Degrees of Freedom — 3× in this paper
• Unified Framework — 3× in this paper · explained in 5 episodes
• Decoupling — 2× in this paper · explained in 2 episodes
• Polynomial Curvature — 2× in this paper
• Adaptability — 1× in this paper · explained in 1 episode
• Hysteresis — 1× in this paper · explained in 3 episodes
• Model-Agnostic — 1× in this paper · explained in 2 episodes

Sources

• Reconciling distributed compliance with high-performance control in continuum soft robotics

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