January 27, 2026 at 2 PM
This talk presents a Cosserat rod–based strain formulation for modeling a tendon-actuated soft robotic arm mounted on a UAV, coupled with a rigid-body dynamics model of the aerial platform. A model-based control strategy for the full soft aerial manipulation system will be briefly recalled. In addition, beyond the results already reported in the RoboSoft paper, a reinforcement-learning-based controller recently trained for the same system will be introduced. The presentation will highlight the learning setup, the obtained performance, and several experimental observations.
Inria building A
français
English