# Energy-Shaping Controllers for Soft Robot Manipulators Through Port-Hamiltonian Cosserat Models

> Research article (SN Computer Science, 2022) · cited 17× · AI/ML

**Wikidata**: [openalex:W4297172738](https://www.wikidata.org/wiki/openalex:W4297172738)  
**Source**: https://4ort.xyz/entity/energy-shaping-controllers-for-soft-robot-manipulators-through-port-hamiltonian-cosserat-models