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SCI."],"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In this work, we discuss the application of energy-based controller design for under-actuated soft robot manipulators. The continuous dynamics of the soft robot are modeled through the differential geometry of Cosserat beams. Using a finite-dimensional truncation, the system can be written as a reduced port-Hamiltonian model that preserves the passivity condition. Then, a model-based controller is introduced that produces a local minimizer of closed-loop potential energy for the desired end-effector configuration. The stabilizing control utilizes an energy-based approach and exploits the passivity of the soft robotic system. The effectiveness of the energy-based controller is demonstrated through extensive simulations of various soft robotic systems that share a resemblance with biology. All software and numerical studies are provided in an open-access SOROTOKI\u00a0toolkit written in Matlab.<\/jats:p>","DOI":"10.1007\/s42979-022-01373-w","type":"journal-article","created":{"date-parts":[[2022,9,27]],"date-time":"2022-09-27T12:10:03Z","timestamp":1664280603000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":19,"title":["Energy-Shaping Controllers for Soft Robot Manipulators Through Port-Hamiltonian Cosserat Models"],"prefix":"10.1007","volume":"3","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6299-1730","authenticated-orcid":false,"given":"Brandon","family":"Caasenbrood","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alexander","family":"Pogromsky","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Henk","family":"Nijmeijer","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2022,9,27]]},"reference":[{"issue":"10","key":"1373_CR1","doi-asserted-by":"publisher","first-page":"2237","DOI":"10.1109\/TAC.2008.2006102","volume":"53","author":"P Astrid","year":"2008","unstructured":"Astrid P, Weiland S, Willcox K, Backx T. 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