A first step towards mathematical control in soft robotics

  1. Francisco Periago 2
  2. Jesús Martínez-Frutos 2
  3. Rogelio Ortigosa 2
  4. Pablo Pedregal 1
  1. 1 Universidad de Castilla-La Mancha
    info

    Universidad de Castilla-La Mancha

    Ciudad Real, España

    ROR https://ror.org/05r78ng12

  2. 2 Universidad Politécnica de Cartagena
    info

    Universidad Politécnica de Cartagena

    Cartagena, España

    ROR https://ror.org/02k5kx966

Proceedings:
9th International Congress on Industrial and Applied Mathematics (ICIAM 2019)

Publisher: International Council for Industrial and Applied Mathematics

Year of publication: 2019

Type: Conference paper

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Abstract

Hyperelasticity is the appropriate mathematical theory to model the dynamics of soft robots. In this work, we state and solve two specific optimal control problems in hyperelasticity. We prove existence of optimal solutions both in a deterministic and in a discrete framework for uncertainty in material properties. We also report on some fine numerical simulations.