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On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control
- Source :
- Other repository
- Publication Year :
- 2020
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2020.
-
Abstract
- Piecewise constant curvature models have proven to be an useful tool for describing kinematics and dynamics of soft robots. However, in their three dimensional formulation they suffer from many issues limiting their range of applicability - as discontinuities and singularities - mainly concerning the straight configuration of the robot. In this work we analyze these flaws, and we show that they are not due to the piecewise constant curvature assumption itself, but that instead they are a byproduct of the commonly employed direction/angle of bending parametrization of the state. We therefore consider an alternative state representation which solves all the discussed issues, and we derive a model based controller based on it. Examples in simulation are provided to support and describe the theoretical results. When using the novel parametrization, the system is able to perform more complex tasks, with a strongly reduced computational burden, and without incurring in spikes and discontinuous behaviors.<br />National Science Foundation (U.S.) (Grant 1226883)<br />National Science Foundation (U.S.) (Grant EFRI 1830901)
- Subjects :
- 0209 industrial biotechnology
Control and Optimization
Computer science
Biomedical Engineering
02 engineering and technology
Kinematics
Bending
Classification of discontinuities
020901 industrial engineering & automation
Artificial Intelligence
Applied mathematics
ComputingMethodologies_COMPUTERGRAPHICS
Mechanical Engineering
021001 nanoscience & nanotechnology
Motion control
Computer Science Applications
Human-Computer Interaction
Constant curvature
Range (mathematics)
Control and Systems Engineering
Piecewise
Robot
Gravitational singularity
Computer Vision and Pattern Recognition
0210 nano-technology
Parametrization
Subjects
Details
- ISSN :
- 23773774
- Volume :
- 5
- Database :
- OpenAIRE
- Journal :
- IEEE Robotics and Automation Letters
- Accession number :
- edsair.doi.dedup.....b1739d1fe6ee4ba92adc23d6f654f17a