DEFCOBOT (Design for Control of Flexible Robots)

柔性机器人具有轻而柔顺的身体，使它们能够很好地适应非结构化环境。然而，由于它们的可变形性，在存在干扰的情况下精确控制它们的运动是一项具有挑战性的任务。此外，柔性机器人的设计和制造通常没有事先对其动态性能进行分析，并且需要通过连续的原型进行改进。这些因素降低了柔性机器人在实际应用中的准确性和有效性，包括手术、检查和维护。最后，定制的设计和控制解决方案将这些领域的进步限制在特定的情况下。本研究旨在为不同类型的柔性机器人提供先进的控制方法和设计准则，以提高其性能。为了证明所提出方法的一般有效性，我们从我们自己的记录中选择了两个说明性应用：机器人辅助活检和机器人检查。在项目的实验部分，控制方法将通过我们最近工作的两个概念验证原型进行验证，这两个原型代表了每个应用程序。本研究的成功完成将有助于提高柔性机器人的精度和有效性，这是其广泛应用的必要前提。研究成果的潜在应用包括微创机器人手术、机器人检查和维护。

Flexible robots have light and compliant bodies that allow them to adapt well to unstructured environments. However, due to their deformability, controlling their movements accurately in the presence of disturbances is a challenging task. Additionally, the design and manufacturing of flexible robots is generally conducted without prior analysis of their dynamic performance and involves refinements through successive prototypes. These factors reduce the accuracy and effectiveness of flexible robots in real-world applications, including surgery, inspection and maintenance. Finally, bespoke design and control solutions confine advances in these areas to specific cases. This research aims to produce advanced control methods and design guidelines for different types of flexible robots in order to enhance their performance. To demonstrate the general validity of the proposed methods we have chosen two illustrative applications from our own track record: robot-assisted biopsy and robotic inspection. In the experimental part of the project, the control methods will be validated with two proof-of-concept prototypes from our recent work that are representative of each application. Successful completion of this research will contribute to enhancing the accuracy and effectiveness of flexible robots which is an essential prerequisite for their wider use. Potential applications of the research findings include minimally-invasive robotic surgery, robotic inspection and maintenance.