Grube, MalteMalteGrubeBekman, TimurTimurBekmanSeifried, RobertRobertSeifried2023-10-062023-10-062023-07-2811th ECCOMAS Thematic Conference on Multibody Dynamics (MULTIBODY 2023)978-989-53599-3-6https://hdl.handle.net/11420/43594With the rise of soft robotic applications modeling and control of soft material robots becomes more and more important. Due to their softness and the resulting large elastic deformations conventional modeling and control approaches usually cannot be applied and new solutions are currently being developed. This paper is a contribution to solving this problem. In a first step it is shown that the full dynamic modeling of a tendon-actuated beam-shaped soft robot based on the Cosserat rod theory. In a second step an open-loop kinematic controller for trajectory tracking control is presented. The controller is based on a neural-network approximation of the forward kinematics of the soft robot. Finally, the controller is tested using the simulation model set up in the first step, and then evaluated experimentally.enSoft RoboticsControlCosserat RodMLE@TUHHComputer SciencesEngineering and Applied OperationsTechnologyConference Paperhttps://multibody2023.tecnico.ulisboa.pt/prog_MULTIBODY_WEB/MULTIBODY2023_PAPERS/ID_29_414_eccomas2023_full_paper_grube.pdfConference Paper