Milana, Edoardo und Stella, Francesco und Gorissen, Benjamin und Reynaerts, Dominiek und Della Santina, Cosimo (2021) Model-Based Control Can Improve the Performance of Artificial Cilia. In: 4th IEEE International Conference on Soft Robotics, RoboSoft 2021, Seiten 527-530. IEEE. 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft), 2021-04-12 - 2021-04-16, New Haven, CT, USA. doi: 10.1109/RoboSoft51838.2021.9479348. ISBN 978-1-7281-7714-4.
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Offizielle URL: https://ieeexplore.ieee.org/document/9479348
Kurzfassung
Artificial cilia are a prominent example of physical intelligence. Their mechanical properties are often designed so to achieve desired motions in response to very simple actuation patterns. Yet, variability in the mechanical properties are inherent in these systems. This may critically disrupt the input-output relation, resulting in a final behavior completely different from the desired one. In this Communication we investigate the possibility of designing a robotic brain that helps the cilium to maintain its physical intelligence. We achieve that by closing a model-based control loop which tracks the position of the end effector while compensating for drag forces. We propose experiments to characterize our model, and extensive simulations validating the results in different conditions. This work is intended as a proof of concept, which will be further expanded in future work.
elib-URL des Eintrags: | https://elib.dlr.de/188123/ | ||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Poster) | ||||||||||||||||||||||||
Titel: | Model-Based Control Can Improve the Performance of Artificial Cilia | ||||||||||||||||||||||||
Autoren: |
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Datum: | Juli 2021 | ||||||||||||||||||||||||
Erschienen in: | 4th IEEE International Conference on Soft Robotics, RoboSoft 2021 | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
DOI: | 10.1109/RoboSoft51838.2021.9479348 | ||||||||||||||||||||||||
Seitenbereich: | Seiten 527-530 | ||||||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||||||
ISBN: | 978-1-7281-7714-4 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Tracking loops, Soft robotics, Brain modeling, Mechanical factors, End effectors | ||||||||||||||||||||||||
Veranstaltungstitel: | 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft) | ||||||||||||||||||||||||
Veranstaltungsort: | New Haven, CT, USA | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 12 April 2021 | ||||||||||||||||||||||||
Veranstaltungsende: | 16 April 2021 | ||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Interagierende Robotersteuerung [RO] | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für den Schutz terrestrischer Infrastrukturen > Detektionssysteme Institut für Robotik und Mechatronik (ab 2013) Institut für den Schutz terrestrischer Infrastrukturen | ||||||||||||||||||||||||
Hinterlegt von: | Milana, Edoardo | ||||||||||||||||||||||||
Hinterlegt am: | 06 Sep 2022 19:07 | ||||||||||||||||||||||||
Letzte Änderung: | 10 Jun 2024 10:34 |
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