# Plant-inspired behavior-based controller to enable reaching in redundant continuum robot arms

arXiv: https://arxiv.org/abs/2304.07188 · HTML: https://mlsanity.com/paper/2304.07188/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Apr 2023.

## Built on by (most cited first, 2 of 2)

- [Continual Policy Distillation of Reinforcement Learning-based Controllers for Soft Robotic In-Hand Manipulation](https://mlsanity.com/paper/2404.04219/) (2024)
- [Multi-modal perception for soft robotic interactions using generative models](https://mlsanity.com/paper/2404.04220/) (2024)

## Abstract (arXiv)

Enabling reaching capabilities in highly redundant continuum robot arms is an active area of research. Existing solutions comprise of task-space controllers, whose proper functioning is still limited to laboratory environments. In contrast, this work proposes a novel plant-inspired behaviour-based controller that exploits information obtained from proximity sensing embedded near the end-effector to move towards a desired spatial target. The controller is tested on a 9-DoF modular cable-driven continuum arm for reaching multiple setpoints in space. The results are promising for the deployability of these systems into unstructured environments.