# Constrained Motion Planning of A Cable-Driven Soft Robot With Compressible Curvature Modeling

arXiv: https://arxiv.org/abs/2106.08250 · HTML: https://mlsanity.com/paper/2106.08250/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 Jun 2021.

## Built on by (most cited first, 4 of 4)

- [Domain Adaptive Sim-to-Real Segmentation of Oropharyngeal Organs Towards Robot-assisted Intubation](https://mlsanity.com/paper/2305.11686/) (2023)
- [An Untethered Bioinspired Robotic Tensegrity Dolphin with Multi-Flexibility Design for Aquatic Locomotion](https://mlsanity.com/paper/2411.00347/) (2024)
- [Domain Adaptive Sim-to-Real Segmentation of Oropharyngeal Organs](https://mlsanity.com/paper/2305.10883/) (2023)
- [Design Optimizer for Soft Growing Robot Manipulators in Three-Dimensional Environments](https://mlsanity.com/paper/2501.00368/) (2024)

## Abstract (arXiv)

A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable manipulator-obstacle collision. Those constraints require rational planning of the robot motion. In this work, we derived the compressible curvature kinematics of a cable-driven soft robot which takes the compressible soft segment into account. The motion planning of the soft robot for a trajectory tracking task in constrained conditions, including fixed orientation end-effector and manipulator-obstacle collision avoidance, has been investigated. The inverse solution of cable actuation was formulated as a damped least-square optimization problem and iteratively computed off-line. The performance of trajectory tracking and the obedience to constraints were evaluated via the simulation we made open-source, as well as the prototype experiments. The method can be generalized to the similar multisegment cable-driven soft robotic systems by customizing the robot parameters for the prior motion planning of the manipulator.