Exact Task Execution in Highly Under-Actuated Soft Limbs: An Operational Space Based Approach

Recently, the development of soft robots is imposing a change of prospective in several aspects of design and control, moving the robotic field closer to the natural world. Soft robots, like many animals, are often built of continuously deformable elements, and are consequently characterized by a highly under-actuated input space. In this letter we prove that given a generic nonlinear task to be a...