Stiffness Control for a Soft Robotic Finger based on Reinforcement Learning for Robust Grasping

Soft robotic grippers have attracted a great attention for industry application. However, due to the characteristics of non-linearity, it is challenging to control the stiffness of soft robotic grippers. As some of the controlling methods of the soft gripper’s stiffness are developed by physical models which are based on force analysis with strong assumptions, it can be difficult to apply to real-...