Stiffness Control of Deformable Robots ...
Type de document :
Compte-rendu et recension critique d'ouvrage
DOI :
Titre :
Stiffness Control of Deformable Robots Using Finite Element Modeling
Auteur(s) :
Koehler, Margaret [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Okamura, Allison [Auteur]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Inria@SiliconValley [Inria@SiliconValley]
Deformable Robots Simulation Team [DEFROST ]
Okamura, Allison [Auteur]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Inria@SiliconValley [Inria@SiliconValley]
Titre de la revue :
IEEE Robotics and automation letters
Pagination :
469-476
Éditeur :
IEEE
Date de publication :
2019-04
ISSN :
2377-3766
Mot(s)-clé(s) en anglais :
-Modeling
Compliance and Impedance Control
Haptics and Haptic Interfaces
Control
Learning for Soft Robots
Compliance and Impedance Control
Haptics and Haptic Interfaces
Control
Learning for Soft Robots
Discipline(s) HAL :
Informatique [cs]/Robotique [cs.RO]
Résumé en anglais : [en]
Due to the complexity of modeling deformable materials and infinite degrees of freedom, the rich background of rigid robot control has not been transferred to soft robots. Thus, most model-based control techniques developed ...
Lire la suite >Due to the complexity of modeling deformable materials and infinite degrees of freedom, the rich background of rigid robot control has not been transferred to soft robots. Thus, most model-based control techniques developed for soft robots and soft haptic interfaces are specific to the particular device. In this paper, we develop a general method for stiffness control of soft robots suitable for arbitrary robot geometry and many types of actuation. Extending previous work that uses finite element modeling for position control, we determine the relationship between end-effector and actuator compliance, including the inherent device compliance, and use this to determine the appropriate controlled actuator stiffness for a desired stiffness of the end-effector. Such stiffness control, as the first component of impedance control, can be used to compensate for the natural stiffness of the deformable device and to control the robot's interaction with the environment or a user. We validate the stiffness projection on a deformable robot and include this stiffness projection in a haptic control loop to render a virtual fixture.Lire moins >
Lire la suite >Due to the complexity of modeling deformable materials and infinite degrees of freedom, the rich background of rigid robot control has not been transferred to soft robots. Thus, most model-based control techniques developed for soft robots and soft haptic interfaces are specific to the particular device. In this paper, we develop a general method for stiffness control of soft robots suitable for arbitrary robot geometry and many types of actuation. Extending previous work that uses finite element modeling for position control, we determine the relationship between end-effector and actuator compliance, including the inherent device compliance, and use this to determine the appropriate controlled actuator stiffness for a desired stiffness of the end-effector. Such stiffness control, as the first component of impedance control, can be used to compensate for the natural stiffness of the deformable device and to control the robot's interaction with the environment or a user. We validate the stiffness projection on a deformable robot and include this stiffness projection in a haptic control loop to render a virtual fixture.Lire moins >
Langue :
Anglais
Vulgarisation :
Non
Collections :
Source :
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