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About this paper
Hehui Zheng, Marc Stampanoni, Roshan S. Kaundinya, Ronan Hinchet, George Haller, Robert K. Katzschmann
The authors develop a six-coordinate adiabatic spectral submanifold model for whole-body control of a soft trunk robot. They learn its dominant motion from hardware data and use model predictive control to plan tendon commands. On eight reachable fixed shapes, it reaches all eight; aggregate error across three controlled markers is 5.1 mm versus 56.1 mm for ERA.
Summary by alphaXiv.
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