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Trumic, Maja and Della Santina, Cosimo and Jovanovic, Kosta and Fagiolini, Adriano (2020) Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching. IEEE Control Systems Letters, 5 (6), pp. 1934-1939. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2020.3047737. ISSN 2475-1456.
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Official URL: https://dx.doi.org/10.1109/LCSYS.2020.3047737
Abstract
Despite having proven successful in generating precise motions under dynamic conditions in highly deformable soft-bodied robots, model based techniques are also prone to robustness issues connected to the intrinsic uncertain nature of the dynamics of these systems. This letter aims at tackling this challenge, by extending the augmented rigid robot formulation to a stable representation of three dimensional motions of soft robots, under Piecewise Constant Curvature hypothesis. In turn, the equivalence between soft-bodied and rigid robots permits to derive effective adaptive controllers for soft-bodied robots, achieving perfect posture regulation under considerable errors in the knowledge of system parameters. The effectiveness of the proposed control design is demonstrated through extensive simulations.
| Item URL in elib: | https://elib.dlr.de/193631/ | ||||||||||||||||||||
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| Document Type: | Article | ||||||||||||||||||||
| Title: | Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching | ||||||||||||||||||||
| Authors: |
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| Date: | 28 December 2020 | ||||||||||||||||||||
| Journal or Publication Title: | IEEE Control Systems Letters | ||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||
| Open Access: | No | ||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||||||
| Volume: | 5 | ||||||||||||||||||||
| DOI: | 10.1109/LCSYS.2020.3047737 | ||||||||||||||||||||
| Page Range: | pp. 1934-1939 | ||||||||||||||||||||
| Publisher: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||
| ISSN: | 2475-1456 | ||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||
| Keywords: | soft robots | ||||||||||||||||||||
| 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: | 27 Jan 2023 14:48 | ||||||||||||||||||||
| Last Modified: | 27 Jan 2023 14:48 |
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