Fig. 9: Closed-loop Obstacle Avoidance for Simulated Trunk Robot.
From: Discovering dominant dynamics for nonlinear continuum robot control
a Trajectory of most accurate tracking of “ETH" symbol among the 100 simulations for each model. b Statistics for tracking performance (ISE). c Statistics for how often the robot violated constraints (violation ratio). d Statistics for how much the robot violated the constraints (max violation). SSMR outperforms all models in terms of precision and safety.
