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Della Santina, Cosimo (2021) The Soft Inverted Pendulum with Affine Curvature. In: 59th IEEE Conference on Decision and Control, CDC 2020. IEEE. 2020 59th IEEE Conference on Decision and Control (CDC), 14-18 December 2020, Jeju, Korea (South). doi: 10.1109/CDC42340.2020.9303976. ISBN 978-172817447-1. ISSN 0743-1546.
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Official URL: https://ieeexplore.ieee.org/document/9303976
Abstract
We introduce here a novel under-actuated mechanical system motivated by recent advances in soft robotics. We derive its governing equations, discuss its properties, and consider a solution for the stabilization of its unstable equilibrium. The results we propose here are intended as a first step towards dealing with the much more challenging general problem of controlling full fledged soft robots subject to non negligible external forces and operating at high accelerations.
| Item URL in elib: | https://elib.dlr.de/192903/ | ||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||
| Title: | The Soft Inverted Pendulum with Affine Curvature | ||||||||
| Authors: |
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| Date: | 11 January 2021 | ||||||||
| Journal or Publication Title: | 59th IEEE Conference on Decision and Control, CDC 2020 | ||||||||
| Refereed publication: | Yes | ||||||||
| Open Access: | No | ||||||||
| Gold Open Access: | No | ||||||||
| In SCOPUS: | Yes | ||||||||
| In ISI Web of Science: | Yes | ||||||||
| DOI: | 10.1109/CDC42340.2020.9303976 | ||||||||
| Publisher: | IEEE | ||||||||
| ISSN: | 0743-1546 | ||||||||
| ISBN: | 978-172817447-1 | ||||||||
| Status: | Published | ||||||||
| Keywords: | soft robotics | ||||||||
| Event Title: | 2020 59th IEEE Conference on Decision and Control (CDC) | ||||||||
| Event Location: | Jeju, Korea (South) | ||||||||
| Event Type: | international Conference | ||||||||
| Event Dates: | 14-18 December 2020 | ||||||||
| Organizer: | IEEE | ||||||||
| 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) > Analysis and Control of Advanced Robotic Systems Institute of Robotics and Mechatronics (since 2013) | ||||||||
| Deposited By: | Strobl, Dr. Klaus H. | ||||||||
| Deposited On: | 23 Dec 2022 11:25 | ||||||||
| Last Modified: | 23 Dec 2022 11:25 |
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