Design and control of a soft and continuously deformable 2D robotic manipulation system

Marchese, Andrew D.; Komorowski, Konrad; Önal, Çağdaş D.; Rus, Daniela

doi:10.1109/icra.2014.6907161

Cited by 188 publications

(139 citation statements)

References 30 publications

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“…The model takes into account the regulated supply pressure to achieve a desired channel pressure which corresponds to a desired bending radius or contact force. Alternatives to this digital control are cylinder-based continuous control systems (Marchese et al, 2014). Renda et al (2012) demonstrate a computationally simple forward model for an artificial octopus arm.…”

Section: Controlmentioning

confidence: 99%

A novel type of compliant and underactuated robotic hand for dexterous grasping

Deimel¹,

Brock²

2015

The International Journal of Robotics Research

913

494

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The usefulness and versatility of a robotic end-effector depends on the diversity of grasps it can accomplish and also on the complexity of the control methods required to achieve them. We believe that soft hands are able to provide diverse and robust grasping with low control complexity. They possess many mechanical degrees of freedom and are able to implement complex deformations. At the same time, due to the inherent compliance of soft materials, only very few of these mechanical degrees have to be controlled explicitly. Soft hands therefore may combine the best of both worlds. In this paper, we present RBO Hand 2, a highly compliant, underactuated, robust, and dexterous anthropomorphic hand. The hand is inexpensive to manufacture and the morphology can easily be adapted to specific applications. To enable efficient hand design, we derive and evaluate computational models for the mechanical properties of the hand's basic building blocks, called PneuFlex actuators. The versatility of RBO Hand 2 is evaluated by implementing the comprehensive Feix taxonomy of human grasps. The manipulator's capabilities and limits are demonstrated using the Kapandji test and grasping experiments with a variety of objects of varying weight. Furthermore, we demonstrate that the effective dimensionality of grasp postures exceeds the dimensionality of the actuation signals, illustrating that complex grasping behavior can be achieved with relatively simple control.

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Section: Controlmentioning

confidence: 99%

A novel type of compliant and underactuated robotic hand for dexterous grasping

Deimel¹,

Brock²

2015

The International Journal of Robotics Research

913

494

View full text Add to dashboard Cite

show abstract

“…Volumetric fluid changes to each agonistic pair of embedded channels within a soft arm segment are controlled by a pair of position-controlled fluidic drive cylinders, a device developed by the authors in [20]. In this work we further develop and identify the device's dynamic model.…”

Section: B Fluidic Drive Cylindersmentioning

confidence: 99%

“…That is, a control valve is turned on for a userdetermined duration of time to pressurize an elastomer actuator and then off to either hold or deflate the actuator [15], [16], [17], [18], [19]. Previously we have demonstrated an approach to motion control for planar soft elastomer manipulators using closed-loop kinematic control [20], [21], but again a dynamic model was not used in the control strategy. Open-loop model-free control is also common for soft elastomer robots that do not use pneumatic actuation [22], [23], [24], [25].…”

Section: ) Dynamics and Control For Soft Elastomer Robotsmentioning

confidence: 99%

Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator

Marchese

Tedrake

Rus

2015

The International Journal of Robotics Research

Self Cite

171

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Abstract-The goal of this work is to develop a soft robotic manipulation system that is capable of autonomous, dynamic, and safe interactions with humans and its environment. First, we develop a dynamic model for a multi-body fluidic elastomer manipulator that is composed entirely from soft rubber and subject to the self-loading effects of gravity. Then, we present a strategy for independently identifying all unknown components of the system: the soft manipulator, its distributed fluidic elastomer actuators, as well as drive cylinders that supply fluid energy. Next, using this model and trajectory optimization techniques we find locally optimal open-loop policies that allow the system to perform dynamic maneuvers we call grabs. In 37 experimental trials with a physical prototype, we successfully perform a grab 92% of the time. By studying such an extreme example of a soft robot, we can begin to solve hard problems inhibiting the mainstream use of soft machines.

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“…In [9], the visual servoing approach is applied for position control of cable-driven soft robotic manipulator based on a constant curvature models (CCM) model. In [10], a cascaded curvature controller is designed to control a highly compliant 2D manipulator actuated by bi-directional fluidic elastomer actuators. Then the method is extended to control a soft spatial fluidic elastomer manipulator [11].…”

Section: Related Researchmentioning

confidence: 99%

Visual servoing control of soft robots based on finite element model

Zhang

Bieze

Dequidt

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-In this paper, we propose a strategy for the control of soft robots with visual tracking and simulation-based predictor. A kinematic model of soft robots is obtained thanks to the Finite Element Method (FEM) computed in real-time. The FEM allows to obtain a prediction of the Jacobian matrix of the robot. This allows a first control of the robot, in the actuator space. Then, a second control strategy based on the feedback of infrared cameras is developed to obtain a correction of the effector position. The robust stability of this closed-loop system is obtained based on Lyapunov stability theory. Otherwise, to deal with the problem of image features (the marker points placed on the end effector of soft robot) loss, a switched control strategy is proposed to combine both the open-loop controller and the closed-loop controller. Finally, experiments on a parallel soft robot driven by four cables are conducted and show the effectiveness of these methods for the real-time control of soft robots.

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Design and control of a soft and continuously deformable 2D robotic manipulation system

Cited by 188 publications

References 30 publications

A novel type of compliant and underactuated robotic hand for dexterous grasping

A novel type of compliant and underactuated robotic hand for dexterous grasping

Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator

Visual servoing control of soft robots based on finite element model

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