Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment
Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment
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DOI：
10.1177/0278364919897292
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发表时间：
2020-01-11
影响因子：
9.2
通讯作者：
Rus, Daniela
中科院分区：
文献类型：
--
作者：
Della Santina, Cosimo;Katzschmann, Robert K.;Rus, Daniela
利用软体机器人的弹性体有望实现动态运动，并能与非结构化环境进行柔顺且安全的交互。然而，由于缺乏合适的控制策略，这些能力的开发受到了限制。这项工作首次针对连续软体机器人开发闭环动态控制器。我们分别提出了两种用于动态轨迹跟踪和表面跟随的架构。这两种控制器的设计都旨在保持机器人的自然柔软性，并适应与非结构化环境的交互。在模型假设范围内，通过分析证明了控制器的有效性。通过大量的模拟以及在一个能够进行平面运动的实体软体机器人上进行的实验，对控制器进行了评估。
Leveraging the elastic bodies of soft robots promises to enable the execution of dynamic motions as well as compliant and safe interaction with an unstructured environment. However, the exploitation of these abilities is constrained by the lack of appropriate control strategies. This work tackles for the first time the development of closed-loop dynamic controllers for a continuous soft robot. We present two architectures designed for dynamic trajectory tracking and surface following, respectively. Both controllers are designed to preserve the natural softness of the robot and adapt to interactions with an unstructured environment. The validity of the controllers is proven analytically within the hypotheses of the model. The controllers are evaluated through an extensive series of simulations, and through experiments on a physical soft robot capable of planar motions.