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Your search keyword '"Kruszewski, Alexandre"' showing total 14 results
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14 results on '"Kruszewski, Alexandre"'

1. Cosserat-Rod Based Dynamic Modeling of Soft Slender Robot Interacting with Environment

Author

Xun, Lingxiao, Zheng, Gang, and Kruszewski, Alexandre

Subjects
Computer Science - Robotics
Abstract

Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge because of the non-linearity of deformation and the non-smooth property of the contacts. In this work, starting from a piece-wise local strain field assumption, we propose a nonlinear dynamic model for soft robot via Cosserat rod theory using Newtonian mechanics which handles the frictional contact with environment and transfer them into the nonlinear complementary constraint (NCP) formulation. Moreover, we smooth both the contact and friction constraints in order to convert the inequality equations of NCP to the smooth equality equations. The proposed model allows us to compute the dynamic deformation and frictional contact force under common optimization framework in real time when the soft slender robot interacts with other rigid or soft bodies. In the end, the corresponding experiments are carried out which valid our proposed dynamic model.

Published
2023

5. Cosserat-Rod-Based Dynamic Modeling of Soft Slender Robot Interacting With Environment

Author

Xun, Lingxiao, Zheng, Gang, and Kruszewski, Alexandre

Abstract

Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge because of the nonlinearity of deformation and the nonsmooth property of the contacts. In this work, starting from a piece-wise local strain field assumption, we propose a nonlinear dynamic model for soft robot via Cosserat rod theory using Newtonian mechanics, which handles the frictional contact with environment and transfer them into the nonlinear complementary constraint (NCP) formulation. Moreover, we smooth both the contact and friction constraints in order to convert the inequality equations of NCP to the smooth equality equations. The proposed model allows us to compute the dynamic deformation and frictional contact force under common optimization framework in real time when the soft slender robot interacts with other rigid or soft bodies. In the end, the corresponding experiments are carried out which valid our proposed dynamic model.

Published
2024
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9. Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer

Author

Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science, Katzschmann, Robert K., Thieffry, Maxime, Goury, Olivier, Kruszewski, Alexandre, Guerra, Thierry-Marie, Duriez, Christian, Rus, Daniela, Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science, Katzschmann, Robert K., Thieffry, Maxime, Goury, Olivier, Kruszewski, Alexandre, Guerra, Thierry-Marie, Duriez, Christian, and Rus, Daniela

Abstract

© 2019 IEEE. This paper presents a computationally efficient method to model and simulate soft robots. Finite element methods enable us to simulate and control soft robots, but require us to work with a large dimensional system. This limits their use in real-time simulation and makes those methods less suitable for control design tools. Using model order reduction, it is possible to create a reduced order system for building controllers and observers. Model reduction errors are taken into account in the design of the low-order feedback, and it is then applied to the large dimensional, unreduced model. The control architecture is based on a linearized model of the robot and enables the control of the robot around this equilibrium point. To show the performance of this control method, pose-to-pose and trajectory tracking experiments are conducted on a pneumatically actuated soft arm. The soft arm has 12 independent interior cavities that can be pressurized and cause the arm to move in three dimensions. The arm is made of a rubber material and is casted through a lost-wax fabrication technique.

Published
2021

10. Discrete Takagi-Sugeno's fuzzy models: reduction of the number of LMI in fuzzy control techniques

Author

Delmotte, Francois, Guerra, Thierry Marie, and Kruszewski, Alexandre

Subjects
Fuzzy logic, Inequalities (Mathematics) -- Analysis, Fuzzy algorithms -- Analysis, Fuzzy logic -- Analysis, Fuzzy systems -- Analysis, Nonlinear networks -- Analysis
Abstract

Conditions about the stabilization of Takagi-Sugeno fuzzy models can systematically be derived and solved usually using linear matrix inequality problems. Current research tries to lower any pessimism. However, often it leads to an important increase in the number of decision variables, and problems become insolvable. In this correspondence, we choose to reduce the number of decision variables while not raising the conservatism in comparison with previous results. This correspondence deals with the discrete case, which is harder to solve. We supply results about the stabilization, the regulator problem, and also [H.sub.[infinity]] control. Index Terms--Fuzzy models, linear matrix inequalities (LMIs), Lyapunov approach, nonlinear control, robust control.

Published
2008

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