Task-space dynamic control on Segmented soft robots (experimental evaluation)
0.42Task Speed (m/s)PCC with AP
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| PCC with APModel=PCC, Technique=AP, Material softness=■■□□, Deformation strains (Torsion)=×, Deformation strains (Bending)=✓, Deformation strains (Axial)=✓, 3D Motions=✓, Generalizability=■□□, No Training Required=✓, Stability Guaranteed=∼, Task-level Feedback=×2026.03 | 0.42 | — | 12.91 | |
| PCC with PD+Model=PCC, Technique=PD+, Material softness=■■■□, Deformation strains (Torsion)=×, Deformation strains (Bending)=✓, Deformation strains (Axial)=×, 3D Motions=✓, Generalizability=■□□, No Training Required=✓, Stability Guaranteed=∼, Task-level Feedback=✓2026.03 | 0.06 | — | 14.09 | |
| LSTM with TRPOModel=LSTM, Technique=TRPO, Material softness=■■□□, Deformation strains (Torsion)=×, Deformation strains (Bending)=✓, Deformation strains (Axial)=✓, 3D Motions=✓, Generalizability=■■□, No Training Required=×, Stability Guaranteed=×, Task-level Feedback=✓2026.03 | 0.05 | — | 7.47 | |
| PCC with CSModel=PCC, Technique=CS, Material softness=■■■□, Deformation strains (Torsion)=×, Deformation strains (Bending)=✓, Deformation strains (Axial)=✓, 3D Motions=×, Generalizability=■□□, No Training Required=✓, Stability Guaranteed=∼, Task-level Feedback=✓2026.03 | 0.028 | — | 11.24 | |
| DNN + R with N-I LModel=DNN + R, Technique=N-I L, Material softness=■■□□, Deformation strains (Torsion)=×, Deformation strains (Bending)=✓, Deformation strains (Axial)=✓, 3D Motions=×, Generalizability=■■■, No Training Required=×, Stability Guaranteed=∼, Task-level Feedback=✓2026.03 | 0.019 | 0.017 | 0.81 |