FEM-based Reachable Workspace Estimation ...
Document type :
Compte-rendu et recension critique d'ouvrage
Title :
FEM-based Reachable Workspace Estimation of Soft Robots using an Interval Analysis approach
Author(s) :
Amehri, Walid [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Zheng, Gang [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Kruszewski, Alexandre [Auteur]
Centrale Lille
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Zheng, Gang [Auteur]

Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Kruszewski, Alexandre [Auteur]
Centrale Lille
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Journal title :
Soft Robotics
Publisher :
Mary Ann Liebert, Inc.
Publication date :
2022
ISSN :
2169-5172
English keyword(s) :
Soft robotics Reachable workspace Finite-element method Interval analysis
Soft robotics
Reachable workspace
Finite-element method
Interval analysis
Soft robotics
Reachable workspace
Finite-element method
Interval analysis
HAL domain(s) :
Informatique [cs]/Robotique [cs.RO]
English abstract : [en]
Considering a soft robot with installed bounded actuators, this paper studies the reachable workspace estimation problem for a pre-chosen point of interest. To this aim, the method of nite-element has been used to obtain ...
Show more >Considering a soft robot with installed bounded actuators, this paper studies the reachable workspace estimation problem for a pre-chosen point of interest. To this aim, the method of nite-element has been used to obtain the static model of the studied robot and two methods are proposed (forward one which is based on Newton iterative method and forward-backward one which is based on interval analysis techniques) to study this estimation problem. Various simulations with dierent conguration scenarios are provided to show the eectiveness of the forward-backward approach which can largely reduce the exploration time, compared to the forward method.Show less >
Show more >Considering a soft robot with installed bounded actuators, this paper studies the reachable workspace estimation problem for a pre-chosen point of interest. To this aim, the method of nite-element has been used to obtain the static model of the studied robot and two methods are proposed (forward one which is based on Newton iterative method and forward-backward one which is based on interval analysis techniques) to study this estimation problem. Various simulations with dierent conguration scenarios are provided to show the eectiveness of the forward-backward approach which can largely reduce the exploration time, compared to the forward method.Show less >
Language :
Anglais
Popular science :
Non
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