In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive passivity control and efficient dynamic model make the challenging trajectory tracking tasks possible. We focus on the exploration of tracking accuracy as well as the full potential of the proposed control strategy by performing experimental validations at different operation scenarios: various tracking speed and external disturbance. In all experimental scenarios, the proposed adaptive passivity control outperforms the conventional PD feedback linearization control. The experimental analysis details the advantage and shortcoming of the proposed approach, and points out the next steps for future soft robot dynamic control.

翻译：在本文中,创建了一个强化软机器人原型,配有定制的动画机-空间字符串编码器,用于调查软机器人动态轨迹跟踪。与拟议的适应性被动控制和高效动态模型嵌入的软机器人原型使得具有挑战性的轨迹跟踪任务成为可能。我们侧重于探索跟踪准确性以及拟议控制战略的全部潜力,在不同操作情景中进行实验性验证:各种跟踪速度和外部扰动。在所有实验情景中,拟议的适应性被动控制优于传统的PD反馈线性控制。实验分析详细介绍了拟议方法的优势和缺点,并提出了未来软机器人动态控制的未来步骤。