Path following for the soft origami crawling robot

Oyuna Angatkina, Kimberly Gustafson, Aimy Wissa, Andrew Alleyne

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations


Extensive growth of the soft robotics field has made possible the application of soft mobile robots for real world tasks such as search and rescue missions. Soft robots provide safer interactions with humans when compared to traditional rigid robots. Additionally, soft robots often contain more degrees of freedom than rigid ones, which can be beneficial for applications where increased mobility is needed. However, the limited number of studies for the autonomous navigation of soft robots currently restricts their application for missions such as search and rescue. This paper presents a path following technique for a compliant origami crawling robot. The path following control adapts the well-known pure pursuit method to account for the geometric and mobility constraints of the robot. The robot motion is described by a kinematic model that transforms the outputs of the pure pursuit into the servo input rotations for the robot. This model consists of two integrated sub-models: a lumped kinematic model and a segmented kinematic model. The performance of the path following approach is demonstrated for a straight-line following simulation with initial offset. Finally, a feedback controller is designed to account for terrain or mission uncertainties.

Original languageEnglish (US)
Title of host publicationRapid Fire Interactive Presentations
Subtitle of host publicationAdvances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791859162
StatePublished - 2019
Externally publishedYes
EventASME 2019 Dynamic Systems and Control Conference, DSCC 2019 - Park City, United States
Duration: Oct 8 2019Oct 11 2019

Publication series

NameASME 2019 Dynamic Systems and Control Conference, DSCC 2019


ConferenceASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Country/TerritoryUnited States
CityPark City

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


  • Compliant robot
  • Origami robot
  • Path following
  • Pure pursuit


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