Condensed semi-implicit dynamics for ...
Document type :
Communication dans un congrès avec actes
Title :
Condensed semi-implicit dynamics for trajectory optimization in soft robotics
Author(s) :
Ménager, Etienne [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Bilger, Alexandre [Auteur]
Service Expérimentation et Développement [SED [Lille]]
Jallet, Wilson [Auteur]
Models of visual object recognition and scene understanding [WILLOW]
Équipe Mouvement des Systèmes Anthropomorphes [LAAS-GEPETTO]
Carpentier, Justin [Auteur]
Département d'informatique - ENS Paris [DI-ENS]
Models of visual object recognition and scene understanding [WILLOW]
Duriez, Christian [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Université de Lille
Deformable Robots Simulation Team [DEFROST ]
Bilger, Alexandre [Auteur]
Service Expérimentation et Développement [SED [Lille]]
Jallet, Wilson [Auteur]
Models of visual object recognition and scene understanding [WILLOW]
Équipe Mouvement des Systèmes Anthropomorphes [LAAS-GEPETTO]
Carpentier, Justin [Auteur]
Département d'informatique - ENS Paris [DI-ENS]
Models of visual object recognition and scene understanding [WILLOW]
Duriez, Christian [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Université de Lille
Conference title :
IEEE International Conference on Soft Robotics (RoboSoft)
Conference organizers(s) :
IEEE
City :
San Diego (CA)
Country :
Etats-Unis d'Amérique
Start date of the conference :
2024-04-14
Publication date :
2024-04
English keyword(s) :
Optimization and Optimal Control
Modeling Control and Learning for Soft Robots
Soft Robot Applications
Modeling Control and Learning for Soft Robots
Soft Robot Applications
HAL domain(s) :
Informatique [cs]/Robotique [cs.RO]
English abstract : [en]
Over the past decades, trajectory optimization (TO) has become an effective solution for solving complex motion generation problems in robotics, ranging from autonomous driving to humanoids. Yet, TO methods remain limited ...
Show more >Over the past decades, trajectory optimization (TO) has become an effective solution for solving complex motion generation problems in robotics, ranging from autonomous driving to humanoids. Yet, TO methods remain limited to robots with tens of degrees of freedom (DoFs), limiting their usage in soft robotics, where kinematic models may require hundreds of DoFs in general. In this work, we introduce a generic method to perform trajectory optimization based on continuum mechanics to describe the behavior of soft robots. The core idea is to condense the dynamics of the soft robot in the constraint space in order to obtain a reduced dynamics formulation, which can then be plugged into numerical TO methods. In particular, we show that these condensed dynamics can be easily coupled with differential dynamic programming methods for solving TO problems involving soft robots. This method is evaluated on three different soft robots with different geometries and actuation.Show less >
Show more >Over the past decades, trajectory optimization (TO) has become an effective solution for solving complex motion generation problems in robotics, ranging from autonomous driving to humanoids. Yet, TO methods remain limited to robots with tens of degrees of freedom (DoFs), limiting their usage in soft robotics, where kinematic models may require hundreds of DoFs in general. In this work, we introduce a generic method to perform trajectory optimization based on continuum mechanics to describe the behavior of soft robots. The core idea is to condense the dynamics of the soft robot in the constraint space in order to obtain a reduced dynamics formulation, which can then be plugged into numerical TO methods. In particular, we show that these condensed dynamics can be easily coupled with differential dynamic programming methods for solving TO problems involving soft robots. This method is evaluated on three different soft robots with different geometries and actuation.Show less >
Language :
Anglais
Peer reviewed article :
Oui
Audience :
Internationale
Popular science :
Non
ANR Project :
Collections :
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