Titre :

FEM-based Reachable Workspace Estimation of Soft Robots using an Interval Analysis approach

Auteur(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 ]

Titre de la revue :

Soft Robotics

Éditeur :

Mary Ann Liebert, Inc.

Date de publication :

2022

ISSN :

2169-5172

Mot(s)-clé(s) en anglais :

Soft robotics Reachable workspace Finite-element method Interval analysis
Soft robotics
Reachable workspace
Finite-element method
Interval analysis

Discipline(s) HAL :

Informatique [cs]/Robotique [cs.RO]

Résumé en anglais : [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 ...
Lire la suite >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.Lire moins >

Langue :

Anglais

Comité de lecture :

Oui

Audience :

Internationale

Vulgarisation :

Non

Collections :

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

Source :

Harvested from HAL