Octopus-inspired grasp-synergies for continuum manipulators

McMahan, William; Walker, Ian D.

doi:10.1109/robio.2009.4913126

Cited by 57 publications

(107 citation statements)

References 22 publications

Supporting

Mentioning

107

Contrasting

Order By: Relevance

“…To find a controller that can achieve the end effector position of the flexible manipulator in a short time in addition to a suppression of its vibration to be able to achieve the tasks is the main goal of the control of flexible manipulator in the free space. Although significant progresses have been made in many aspects over the last two decades, many issues are not yet resolved yet, and simple, effective, and reliable controls of flexible manipulators remain open requests [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

“…They all needed structure information of the robot gravity. Some nonlinear PD controllers can also achieve asymptotic stability, for example PD control with time-varying gains [5], PD control with nonlinear gains [6], and PD control with feedback linearization compensation [8]. But these controllers are complex; many good properties of the linear PID control do not exist because these controllers do not have the same form as the industrial PID.…”

Section: Introductionmentioning

confidence: 99%

“…However, since joints coupling is neglected, control performance degrades as operating speed increases and a manipulator controlled in this way is only appropriate for relatively slow motion [44,46] which cannot be compensated for by a standard robot controller such as PID [50], and hence model-based control becomes the alternative. Sliding mode controller: Consider a nonlinear single input dynamic system is defined by [6]:…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator

Mirshekaran¹,

Piltan²,

Esmaeili³

et al. 2013

IJMECS

View full text Add to dashboard Cite

-This paper studies the use of Modified Proportional-Integral-Derivative Sliding Mode Controller (MPIDSMC) control used to control a flexible manipulator. The control gain in the MPIDSMC controller has been determined in an empirical way so far. It is a considerable time-consuming process because the control performance depends not only on the control gain but also on the other parameters such as the payload, references and PID joint servo gains. Hence, the control gain must be tuned considering the other parameters. In order to find the optimal control gain for the MPIDSMC controller, a fuzzy logic approach is proposed in this paper. The proposed fuzzy logic scheme finds an optimum control gain that minimizes the tip vibration for the end effector of the flexible manipulator. Tuned gain response results are compared to results for other types of gains. The effectiveness of using the fuzzy logic appears in the reduction of the computational time and the ability to tune the gain with different loading condition and input parameters.Index Terms -Modified PID Controller, Flexible manipulator, sliding mode controller, vibration of end effector, fuzzy logic theory

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator

Mirshekaran¹,

Piltan²,

Esmaeili³

et al. 2013

IJMECS

View full text Add to dashboard Cite

show abstract

“…Many researchers work on the design controller for continuum robotic manipulators in order to have the best performance. Control of any systems divided into two main groups: linear and nonlinear controller [1][2][3][4][5][6][7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

“…The idea of creating "trunk and tentacle" robots, (in recent years termed continuum robots [1]), is not new [2]. Inspired by the bodies of animals such as snakes [3], the arms of octopi [4], and the trunks of elephants [5][6], researchers have been building prototypes for many years. A key motivation in this research has been to reproduce in robots some of the special qualities of the biological counterparts.…”

Section: Introductionmentioning

confidence: 99%

Artificial Chattering Free on-line Modified Sliding Mode Algorithm: Applied in Continuum Robot Manipulator

Ebrahimi¹,

Piltan²,

Bazregar³

et al. 2013

IJIEEB

View full text Add to dashboard Cite

Abstract-In this research, an artificial chattering free adaptive fuzzy modified sliding mode control design and application to continuum robotic manipulator has proposed in order to design high performance nonlinear controller in the presence of uncertainties. Regarding to the positive points in sliding mode controller, fuzzy logic controller and online tuning method, the output improves. Each method by adding to the previous controller has covered negative points. The main target in this research is design of model free estimator on-line sliding mode fuzzy algorithm for continuum robot manipulator to reach an acceptable performance. Continuum robot manipulators are highly nonlinear, and a number of parameters are uncertain, therefore design model free controller by both analytical and empirical paradigms are the main goal. Although classical sliding mode methodology has acceptable performance with known dynamic parameters such as stability and robustness but there are two important disadvantages as below: chattering phenomenon and mathematical nonlinear dynamic equivalent controller part. To solve the chattering fuzzy logic inference applied instead of dead zone function. To solve the equivalent problems in classical sliding mode controller this paper focuses on applied on-line tuning method in classical controller. This algorithm works very well in certain and uncertain environment. The system performance in sliding mode controller is sensitive to the sliding function. Therefore, compute the optimum value of sliding function for a system is the next challenge. This problem has solved by adjusting sliding function of the on-line method continuously in real-time. In this way, the overall system performance has improved with respect to the classical sliding mode controller. This controller solved chattering phenomenon as well as mathematical nonlinear equivalent part by applied modified PID supervisory method in modified fuzzy sliding mode controller and tuning the sliding function.Index Terms-Chattering phenomenon, chattering free adaptive sliding mode fuzzy control, nonlinear controller, fuzzy logic controller, sliding mode controller, continuum robot manipulator.

show abstract

Jointless Bioinspired Soft Robotics by Harnessing Micro and Macroporosity

Joe,

Bliah,

Magdassi

et al. 2023

Advanced Science

View full text Add to dashboard Cite

Although natural continuum structures, such as the boneless elephant trunk, provide inspiration for new versatile grippers, highly deformable, jointless, and multidimensional actuation has still not been achieved. The challenging pivotal requisites are to avoid sudden changes in stiffness, combined with the capability of providing reliable large deformations in different directions. This research addresses these two challenges by harnessing porosity at two levels: material and design. Based on the extraordinary extensibility and compressibility of volumetrically tessellated structures with microporous elastic polymer walls, monolithic soft actuators are fabricated by 3D printing unique polymerizable emulsions. The resulting monolithic pneumatic actuators are printed in a single process and are capable of bidirectional movements with just one actuation source. The proposed approach is demonstrated by two proof‐of‐concepts: a three‐fingered gripper, and the first ever soft continuum actuator that encodes biaxial motion and bidirectional bending. The results open up new design paradigms for continuum soft robots with bioinspired behavior based on reliable and robust multidimensional motions.

show abstract

Octopus-inspired grasp-synergies for continuum manipulators

Cited by 57 publications

References 22 publications

Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator

Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator

Artificial Chattering Free on-line Modified Sliding Mode Algorithm: Applied in Continuum Robot Manipulator

Jointless Bioinspired Soft Robotics by Harnessing Micro and Macroporosity

Contact Info

Product

Resources

About