Title :

Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer

Author(s) :

Katzschmann, Robert [Auteur]
Computer Science and Artificial Intelligence Laboratory [Cambridge] [CSAIL]
Thieffry, Maxime [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 [LAMIH]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Goury, Olivier [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Kruszewski, Alexandre [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Centrale Lille
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Guerra, Thierry-Marie [Auteur]
Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 [LAMIH]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Rus, Daniela [Auteur]
Computer Science and Artificial Intelligence Laboratory [Cambridge] [CSAIL]

Conference title :

IEEE 2019 International Conference on Soft Robotics

City :

Séoul

Country :

Corée du Sud

Start date of the conference :

2019-04-14

HAL domain(s) :

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

English abstract : [en]

This paper presents a computationally efficient method to model and simulate soft robots. Finite element methods enable us to simulate and control soft robots, but require us to work with a large dimensional system. This ...
Show more >This paper presents a computationally efficient method to model and simulate soft robots. Finite element methods enable us to simulate and control soft robots, but require us to work with a large dimensional system. This limits their use in real-time simulation and makes those methods less suitable for control design tools. Using model order reduction, it is possible to create a reduced order system for building controllers and observers. Model reduction errors are taken into account in the design of the low-order feedback, and it is then applied to the large dimensional, unreduced model. The control architecture is based on a linearized model of the robot and enables the control of the robot around this equilibrium point. To show the performance of this control method, pose-to-pose and trajectory tracking experiments are conducted on a pneumatically actuated soft arm. The soft arm has 12 independent interior cavities that can be pressurized and cause the arm to move in three dimensions. The arm is made of a rubber material and is casted through a lost-wax fabrication technique.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