Title :

Soft robots locomotion and manipulation control using FEM simulation and quadratic programming

Author(s) :

Coevoet, Eulalie [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Escande, Adrien [Auteur]
Joint Robotics Laboratory [CNRS-AIST JRL ]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]

Conference title :

RoboSoft 2019 - IEEE International Conference on Soft Robotics

City :

Seoul

Country :

Corée du Sud

Start date of the conference :

2019-04-14

HAL domain(s) :

Informatique [cs]/Modélisation et simulation
Informatique [cs]/Robotique [cs.RO]

English abstract : [en]

In this paper, we propose a method to control the motion of soft robots able to manipulate objects or roll from one place to another. We use the Finite Element Method (FEM) to simulate the deformations of the soft robot, ...
Show more >In this paper, we propose a method to control the motion of soft robots able to manipulate objects or roll from one place to another. We use the Finite Element Method (FEM) to simulate the deformations of the soft robot, its actuators, and surroundings when deformable. To find the inverse model of the robot interacting with obstacles, and with constraints on its actuators, we write the problem as a quadratic program with complementarity constraints. The novelty of this work is that friction contacts (sticking contact only) are taken into account in the optimization process, allowing the control of these specific tasks that are locomotion and manipulation. We propose a formulation that simplifies the optimization problem, together with a dedicated solver. The algorithm has real-time performance and handles evolving environments as long as we know them. To show the effectiveness of the method, we present several numerical examples, and a demonstration on a real 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