Controllability pre-verification of silicone soft robots based on finite-element method

Zheng, Gang; Goury, Olivier; Thieffry, Maxime; Kruszewski, Alexandre; Duriez, Christian

Document type :

Autre communication scientifique (congrès sans actes - poster - séminaire...): Communication dans un congrès avec actes

DOI :

10.1109/ICRA.2019.8794370

Title :

Controllability pre-verification of silicone soft robots based on finite-element method

Author(s) :

Zheng, Gang [Auteur]

Deformable Robots Simulation Team [DEFROST ]
Goury, Olivier [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Thieffry, Maxime [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Kruszewski, Alexandre [Auteur]

Centrale Lille
Deformable Robots Simulation Team [DEFROST ]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Duriez, Christian [Auteur]

Institut de Radioprotection et de Sûreté Nucléaire [IRSN]
Deformable Robots Simulation Team [DEFROST ]

Conference title :

ICRA 2019 - International Conference on Robotics and Automation

City :

Montreal

Country :

Canada

Start date of the conference :

2019-05-20

Publisher :

IEEE

HAL domain(s) :

Sciences de l'ingénieur [physics]/Automatique / Robotique
Informatique [cs]/Automatique

English abstract : [en]

Soft robot is an emergent research field which has variant promising applications. However, the design of soft robots nowadays still follows the trial-and-error process, which is not at all efficient. This paper proposes ...
Show more >Soft robot is an emergent research field which has variant promising applications. However, the design of soft robots nowadays still follows the trial-and-error process, which is not at all efficient. This paper proposes to design soft robots by pre-checking controllability during the numerical design phase. Finite-element method is used to model the dynamics of silicone soft robots, based on which the differential geometric method is applied to analyze the controllability of the points of interest. Such a verification is also investigated via model order reduction technique and Galerkin projection. The proposed methodology is finally validated by numerically designing a controllable parallel soft robot.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL

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