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

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)2076-2086
Number of pages11
Journal / PublicationIEEE Transactions on Automation Science and Engineering
Issue number4
Online published16 Nov 2020
Publication statusPublished - Oct 2021


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.

Research Area(s)

  • Continuum robot, Deformable models, deformation control, Hidden Markov models, Jacobian matrices, model predictive control, Robot sensing systems, Robots, Shape, Strain, visual servoing