# An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots

arXiv: https://arxiv.org/abs/2310.13889 · HTML: https://mlsanity.com/paper/2310.13889/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Oct 2023.

## Built on by (most cited first, 3 of 3)

- [Input-to-State Stable Coupled Oscillator Networks for Closed-form Model-based Control in Latent Space](https://mlsanity.com/paper/2409.08439/) (2024)
- [Learning Low-Dimensional Strain Models of Soft Robots by Looking at the Evolution of Their Shape with Application to Model-Based Control](https://mlsanity.com/paper/2411.00138/) (2024)
- [SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models](https://mlsanity.com/paper/2608.06650/) (2026)

## Abstract (arXiv)

Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials. However, their control is especially challenging due to varying and coupled stiffness, shearing, non-affine terms in the actuation model, and underactuation. In this paper, we present a model-based control strategy for planar HSA robots enabling regulation in task space. We formulate equations of motion, show that they admit a collocated form, and design a P-satI-D feedback controller with compensation for elastic and gravitational forces. We experimentally identify and verify the proposed control strategy in closed loop.