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11 Bio-inspired robotic structures composed of soft actuation units have attracted increasing research 12 interest. Taking advantage of its inherent compliance, soft robots can assure safe interaction with external 13 environments, provided that precise and effective manipulation could be achieved. Endoscopy is a typical 14 application. However, previous model-based control approaches often require simplified geometric 15 assumptions on the soft manipulator, but which could be very inaccuratedoi:10.1089/soro.2016.0065 pmid:29251567 pmcid:PMC5734182 fatcat:7oqh6houvzdaxmmncu57bhsg4i