Fault-Tolerant, Rigidity-Preserving Control of Inflatable Truss Robots

arXiv:2605.20561 · cs.RO · Submitted 2026-05-19 · Read on arXiv

cs.RO

Submitted: 2026-05-19

Updated: 2026-09-16

Comments: 8 pages, 9 figures, 1 table. Accepted to IEEE Robotics and Automation Letters (RA-L)

DOI: 10.1109/LRA.2026.3733614

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Accuracy — 8× in this paper · explained in 1 episode
• Closed-Loop Control — 8× in this paper · explained in 2 episodes
• Redundancy — 6× in this paper · explained in 2 episodes
• Robustness — 6× in this paper · explained in 5 episodes
• Anisotropy — 2× in this paper · explained in 3 episodes
• Trace — 2× in this paper · explained in 2 episodes
• Adaptability — 1× in this paper · explained in 1 episode
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
• Digital Object Identifier — 1× in this paper
• Iterative Refinement — 1× in this paper · explained in 3 episodes
• Local Optimization — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes

Sources

• Modular Isoperimetric Soft Robotic Truss for Lunar Applications

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