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Feedback Regulation of Elastically Decoupled Underactuated Soft Robots

Pustina, Pietro and Della Santina, Cosimo and De Luca, Alessandro (2022) Feedback Regulation of Elastically Decoupled Underactuated Soft Robots. IEEE Robotics and Automation Letters, 7 (2), pp. 4512-4519. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3150829. ISSN 2377-3766.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/9712341


The intrinsically underactuated and nonlinear nature of continuum soft robots makes the derivation of provably stable feedback control laws a challenging task. Most of the works so far circumvented the issue either by looking at coarse fully-actuated approximations of the dynamics or by imposing quasi-static assumptions. In this letter, we move a step in the direction of controlling generic soft robots taking explicitly into account their underactuation. A class of soft robots that have no direct elastic couplings between the dynamics of actuated and unactuated coordinates is identified. Considering the actuated variables as output, we prove that the system is minimum phase. We then propose regulators that implement different levels of model compensation. The stability of the associated closed-loop systems is formally proven by Lyapunov/LaSalle techniques, taking into account the nonlinear and underactuated dynamics. Simulation results are reported for two models of 2D and 3D soft robots.

Item URL in elib:https://elib.dlr.de/192576/
Document Type:Article
Title:Feedback Regulation of Elastically Decoupled Underactuated Soft Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Pustina, PietroUniversita di Roma “La Sapienza”UNSPECIFIEDUNSPECIFIED
Della Santina, CosimoUNSPECIFIEDhttps://orcid.org/0000-0003-1067-1134UNSPECIFIED
De Luca, AlessandroUniversita di Roma “La Sapienza”https://orcid.org/0000-0002-0713-5608UNSPECIFIED
Date:14 February 2022
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 4512-4519
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Control and learning for soft robots, flexible robotics, modeling, motion control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:19 Dec 2022 07:30
Last Modified:19 Sep 2023 11:48

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