Title :

Statics and Dynamics of Continuum Robots Based on Cosserat Rods and Optimal Control Theories

Author(s) :

Boyer, Frédéric [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Département Automatique, Productique et Informatique [IMT Atlantique - DAPI]
Robotique Et Vivant [LS2N - équipe ReV]
Lebastard, Vincent [Auteur correspondant]
Robotique Et Vivant [LS2N - équipe ReV]
Département Automatique, Productique et Informatique [IMT Atlantique - DAPI]
Candelier, Fabien [Auteur]
Institut universitaire des systèmes thermiques industriels [IUSTI]
Renda, Federico [Auteur]
Alamir, Mazen [Auteur]
GIPSA - Modelling and Optimal Decision for Uncertain Systems [GIPSA-MODUS]

Journal title :

IEEE Transactions on Robotics

Pages :

1544-1562

Publisher :

IEEE

Publication date :

2023-04

ISSN :

1552-3098

English keyword(s) :

Continuous and soft robots
cosserat rods
dynamic modeling
gauss' principle of least constraint
newton-Euler inverse and forward dynamics
optimal control

HAL domain(s) :

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

English abstract : [en]

This paper explores the relationship between optimal control and Cosserat beam theory from the perspective of solving the forward and inverse dynamics (and statics as a subcase) of continuous manipulators and snake-like ...
Show more >This paper explores the relationship between optimal control and Cosserat beam theory from the perspective of solving the forward and inverse dynamics (and statics as a subcase) of continuous manipulators and snake-like bio-inspired locomotors. By invoking the principle of minimum potential energy, and the Gauss principle of least constraint, it is shown that the quasi-static and dynamic evolution of these robots, are solutions of optimal control problems (OCPs) in the space variable, which can be solved at each step (of loading or time) of a simulation with the shooting method. In addition to offering an alternative viewpoint on several simulation approaches proposed in the recent past, the optimal control viewpoint \fred{allows us to improve some of them while providing a better understanding of their numerical properties}. The approach and its properties are illustrated through a set of numerical examples validated against a reference simulator.Show less >

Language :

Anglais

Popular science :

Non

ANR Project :

Théorie Cosserat pour les robots élancés contrôlés en déformation

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL