Soft Robot Control with a Behaviour-Based Architecture

  • Christopher Armbrust
  • Lisa Kiekbusch
  • Thorsten Ropertz
  • Karsten Berns
Conference paper


In this chapter, we explain how behaviour-based approaches can be used to control soft robots. Soft robotics is a strongly growing field generating innovative concepts and novel systems. The term “soft” can refer to the basic structure, the actuators, or the sensors of these systems. The soft aspect results in a number of challenges that can only be solved with new modelling, control, and analysis methods whose novelty matches those of the hardware. We will present prior achievements in the area of behaviour-based systems and suggest their application in soft robots with the aim to increase the fault tolerance while improving the reaction to unexpected disturbances.


Model Check Bipedal Robot Behaviour Network Satisfiability Modulo Theory Robotic Fish 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  • Christopher Armbrust
    • 1
  • Lisa Kiekbusch
    • 1
  • Thorsten Ropertz
    • 1
  • Karsten Berns
    • 1
  1. 1.University of KaiserslauternKaiserslauternGermany

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