Plant-inspired decentralized controller for robust orientation control of soft robotic manipulators

Abstract

Due to the complexity of deformations in soft manipulators, achieving precise control of their orientation is particularly challenging, especially in the presence of external disturbances and human interactions. Inspired by the decentralized growth mechanism of plant gravitropism, which enables plants' roots and stems to grow in the direction of gravity despite complex environmental interactions, this study proposes a decentralized control strategy for robust orientation control of multi-segment soft manipulators. This gravitropism-inspired decentralized controller was validated through simulations for convergence and robustness, and benchmarked against the traditional inverse Jacobian-based controller on a large-scale multi-segment soft manipulator. Experimental results demonstrate that the decentralized controller achieves comparable convergence and better control precision to the inverse Jacobian-based controller, while significantly outperforming it in disturbance rejection. Even in the presence of partial damage and human interaction, the decentralized controller provides robust control. This study provides a robust new approach for managing disturbances in complex environments, laying the foundation for further exploration of decentralized control strategies in soft robotics.