Inverse Dynamics Model-Based Shape Control of Soft Continuum Finger Robot Using Parametric Curve
Inverse Dynamics Model-Based Shape Control of Soft Continuum Finger Robot Using Parametric Curve
复制标题
基于逆动力学模型的参数曲线软连续手指机器人形状控制
DOI：
10.1109/lra.2021.3101874
复制
发表时间：
2021
影响因子：
5.2
通讯作者：
R. Merzouki
中科院分区：
文献类型：
--
作者：
Steeve Mbakop;G. Tagne;M. Frouin;A. Melingui;R. Merzouki
由于超弹性软材料具有弹性、柔韧性等多种优点，软连续体机器人越来越多地应用于各种领域。尽管所有这些基本特性使软体机器人成为一些现实生活需求的良好候选者（形式外壳抓取，无障碍导航等），但由于它们的超冗余，控制它们的形状仍然具有挑战性。本文研究了一种基于逆动力学模型的软连续体机器人在存在和不存在外力情况下的形状控制。为此，将基于规定长度的毕达哥拉斯Hodograph （PH）曲线的建模与Euler-Bernoulli建模相结合，重构机器人形状，然后计算外力情况下的执行器输入。这样，就得到了执行器输入与PH控制点之间的关系。利用上述策略，可以对执行器的输入进行相应的计算，从而实现软机器人对各种任务的实时形状控制。采用两类软连续体机器人-流体弹性致动器（FEA），描述二维软手指机器人，具有单指骨和多指骨，以及三维连续体机械手，即紧凑型仿生处理助手(CBHA) -对所提出方法的结果进行了数值和实验验证。
Soft continuum robots are more and more used in various applications due to the multiple advantages offered by the properties of hyper-elastic soft materials, such as resilience, flexibility, etc. Despite all these essential properties that make the soft robots good candidates for some real-life needs (form enclosure grasping, obstacle-free navigation, etc.), controlling their shape remains challenging because of their hyper-redundancies. This letter investigates an inverse dynamics model-based shape control of soft continuum robots in the presence and absence of external efforts. To that end, modeling based on Pythagorean Hodograph (PH) curves with prescribed lengths is combined with Euler-Bernoulli modeling to reconstruct the robot shapes and then calculate the actuator inputs in the case of external efforts. Thus, a relationship between the actuator inputs and the PH control points is obtained. With the above strategy, the actuator inputs can be computed accordingly, and therefore, real-time shape control of the soft robots for various tasks becomes possible. The results of the proposed approach are validated both numerically and experimentally using two classes of soft continuum robots — a Fluidic Elastomeric Actuator (FEA), describing a 2D soft finger robot, with a single and multiple phalanges, and a 3D continuum manipulator, namely the Compact Bionic Handling Assistant (CBHA).
影响因子：
9.2
作者：
Della Santina, Cosimo;Katzschmann, Robert K.;Rus, Daniela
通讯作者：
Rus, Daniela
DOI：
10.1109/iros45743.2020.9340827
发表时间：
2020-08
期刊：
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
影响因子：
--
作者：
A. Orekhov;N. Simaan
通讯作者：
A. Orekhov;N. Simaan