Automated 3-D Deformation of a Soft Object Using a Continuum Robot

This study investigates the use of a tendon-driven continuum robot to deform a soft object, whereas the robot body is deformed into an arbitrary shape to adapt to a constrained environment. A dynamic estimator (DE) is developed to approximate the Jacobian matrix that associates the actuator input with the deformed output of the soft object. This helps solve the singularity problem and reduce the effects of noise. Then a visual predictive controller (VPC) with a reference trajectory is developed to ensure a smooth operation. A linear extended-state observer (ESO) is further designed to measure the robot states, such that the controller can compensate for the estimation error. Simulations and experiments are performed to verify the proposed control approach.