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The inverse kinematic control of soft robots appears as an open challenge that has been the subject of a number of letters presented in the last decade. Some solutions have been provided based on specific assumptions on the robot&#x2019;s shape or the actuation mechanism. Other more generic approaches are characterized by a significant computational cost or by a low level of accuracy for very high deformations. In the effort to overcome some of these limitations, here we present a Geometrically-Exact (GE) inverse kinematics controller, which can be applied to soft manipulators having general threadlike actuators&#x2019; routing. Being GE, the approach is suitable to applications involving arbitrarily large bending and twisting, and, on the other side, it relies on a reduced number of Degrees of Freedom (DOFs). We prove the feasibility of the proposed Jacobian-based inverse kinematic control in simulation for soft manipulators with complex and discontinuous actuators&#x2019; routing.

Geometrically-Exact Inverse Kinematic Control of Soft Manipulators With General Threadlike Actuators’ Routing