Title :

Design, implementation and control of a deformable manipulator robot based on a compliant spine

Author(s) :

Morales Bieze, Thor [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Kruszewski, Alexandre [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Carrez, Bruno [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]

Journal title :

The International Journal of Robotics Research

Publisher :

SAGE Publications

Publication date :

2020-05-13

ISSN :

0278-3649

English keyword(s) :

Soft robots
Continuum robots
Deformable manipulators
Finite Element Method

HAL domain(s) :

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

English abstract : [en]

This paper presents the conception, the numerical modeling and the control of a dexterous, deformable manipulator bio-inspired by the skeletal spine found in vertebrate animals. Through the implementation of this new ...
Show more >This paper presents the conception, the numerical modeling and the control of a dexterous, deformable manipulator bio-inspired by the skeletal spine found in vertebrate animals. Through the implementation of this new manipulator, we show a methodology based on numerical models and simulations, that goes from design to control of continuum and soft robots. The manipulator is modeled using Finite Element Method (FEM), using a set of beam elements that reproduce the lattice structure of the robot. The model is computed and inverted in real-time using optimisation methods. A closed-loop control strategy is implemented to account for the disparities between the model and the robot. This control strategy allows for accurate positioning, not only of the tip of the manipulator, but also the positioning of selected middle points along its backbone. In a scenario where the robot is piloted by a human operator, the command of the robot is enhanced by a haptic loop that renders the boundaries of its task space as well as the contact with its environment. The experimental validation of the model and control strategies is also presented in the form of an inspection task use case.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