Dynamic Model of a Multibending Soft Robot Arm Driven by Cables

Renda, Federico; Giorelli, Michele; Calisti, Marcello; Cianchetti, Matteo; Laschi, Cecilia

doi:10.1109/tro.2014.2325992

Cited by 383 publications

(259 citation statements)

References 35 publications

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“…These models are the basis for the forward kinematics of their respective systems. However, the PCC model does not capture all aspects of soft robots and in an effort to increase the envelope of the model, Renda et al developed non-constant curvature models 78 .…”

Section: Modeling and Kinematicsmentioning

confidence: 99%

Design, fabrication and control of soft robots

Rus

Tolley

2015

Nature

4,483

2,656

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Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modeled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates like humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft tissues. Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials. This Review discusses recent developments in the emerging field of soft robotics.

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Section: Modeling and Kinematicsmentioning

confidence: 99%

Design, fabrication and control of soft robots

Rus

Tolley

2015

Nature

4,483

2,656

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“…Jones et al (2009) proposed three-dimensional statics for gravity loaded, unactuated flexible rods, while Rucker and Webster (2011b) generalized the approach for backbone supported tendon actuated continuum arms with general tendon routing. A similar approach was applied to multibending soft robot by Renda et al (2014). Flexible manipulator dynamics proposed by Book (1990) assumed small relative deformation hence are not applicable to continuum arms that can exhibit large omni-directional deformation.…”

Section: Introductionmentioning

confidence: 99%

Dynamics for variable length multisection continuum arms

Godage

Medrano-Cerda

Branson

et al. 2015

The International Journal of Robotics Research

130

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Variable length multisection continuum arms are a class of continuum robotic manipulators that generate motion by structural mechanical deformation. Unlike most continuum robots, the sections of these arms do not have (central) supporting flexible backbone, and are actuated by multiple variable length actuators. Because of the constraining nature of actuators, the continuum sections can bend and/or elongate (compress) depending on the elongation/contraction characteristics of the actuators being used. Continuum arms have a number of distinctive differences with respect to traditional rigid arms namely: smooth bending, high inherent compliance, and adaptive whole arm grasping. However, due to numerical instability and the complexity of curve parametric models, there are no spatial dynamic models for multisection continuum arms. This paper introduces novel spatial dynamics and applies these to variable length multisection continuum arms with any number of sections. An efficient recursive computational scheme for deriving the equations of motion is presented. This is applied in a general form based on structurally accurate and numerically well posed modal kinematics that assumes circular arc deformation of continuum sections without torsion. It is shown that the proposed modal dynamics are highly scalable, producing efficient and accurate numerical results. The spatial dynamic simulation results are experimentally validated using a pneumatic muscle actuated multisection prototype continuum arm. For the first time this enables investigation of spatial dynamic effects in this class of continuum arms.

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“…In many practical cases, such as the significant contacts with the environment and the nonconstant deformation, the CCM does not capture all features of soft robots. Non-constant curvature models (NCCM) are therefore proposed, with a higher degree of accuracy, to model soft robots [12], [13]. However, controller design based on NCCM is more challenging.…”

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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Dynamic Model of a Multibending Soft Robot Arm Driven by Cables

Cited by 383 publications

References 35 publications

Design, fabrication and control of soft robots

Design, fabrication and control of soft robots

Dynamics for variable length multisection continuum arms

Visual servoing control of soft robots based on finite element model

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