Using R-Functions to Control the Shape of Soft Robots
Using R-Functions to Control the Shape of Soft Robots
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DOI：
10.1109/lra.2022.3188894
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发表时间：
2022-10
影响因子：
5.2
通讯作者：
Declan Mulroy;Esteban López;M. Spenko;Ankit Srivastava
中科院分区：
文献类型：
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作者：
Declan Mulroy;Esteban López;M. Spenko;Ankit Srivastava
在这封信中，我们介绍了一种使用近似距离场进行软机器人形状形成和变形的新方法。该方法使用构造立体几何 R 函数的概念来构造到 $\Re ^{d}$ 中域边界的近似距离函数。然后，R 函数的梯度可用于生成软机器人形状形成任务的控制算法。通过构造，R 函数处处光滑且凸，具有精确的微分性质，并且在需要时可以轻松地从 $\Re ^{2}$ 扩展到 $\Re ^{3}$。此外，R 函数理论提供了一种简单的方法，通过组合距离函数的子集来创建任何所需形状的复合距离函数。由于形状描述是一种解析表达式，因此该过程非常高效，从这个意义上说，它比基于势场的竞争控制算法更好。尽管该方法也可以应用于群体机器人，但在这封信中，它应用于软机器人以演示 2D（模拟和实验）和 3D（模拟）中的形状形成和变形。
In this letter, we introduce a new approach for soft robot shape formation and morphing using approximate distance fields. The method uses concepts from constructive solid geometry, R-functions, to construct an approximate distance function to the boundary of a domain in $\Re ^{d}$. The gradients of the R-functions can then be used to generate control algorithms for shape formation tasks for soft robots. By construction, R-functions are smooth and convex everywhere, possess precise differential properties, and easily extend from $\Re ^{2}$ to $\Re ^{3}$ if needed. Furthermore, R-function theory provides a straightforward method to creating composite distance functions for any desired shape by combining subsets of distance functions. The process is highly efficient since the shape description is an analytical expression, and in this sense, it is better than competing control algorithms such as those based on potential fields. Although the method could also apply to swarm robots, in this letter it is applied to soft robots to demonstrate shape formation and morphing in 2-D (simulation and experimentation) and 3-D (simulation).