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Trumic, Maja und Della Santina, Cosimo und Jovanovic, Kosta und Fagiolini, Adriano (2020) Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching. IEEE Control Systems Letters, 5 (6), Seiten 1934-1939. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2020.3047737. ISSN 2475-1456.
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Offizielle URL: https://dx.doi.org/10.1109/LCSYS.2020.3047737
Kurzfassung
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.
| elib-URL des Eintrags: | https://elib.dlr.de/193631/ | ||||||||||||||||||||
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| Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||
| Titel: | Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching | ||||||||||||||||||||
| Autoren: |
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| Datum: | 28 Dezember 2020 | ||||||||||||||||||||
| Erschienen in: | IEEE Control Systems Letters | ||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||
| Open Access: | Nein | ||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||||||
| Band: | 5 | ||||||||||||||||||||
| DOI: | 10.1109/LCSYS.2020.3047737 | ||||||||||||||||||||
| Seitenbereich: | Seiten 1934-1939 | ||||||||||||||||||||
| Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||
| ISSN: | 2475-1456 | ||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||
| Stichwörter: | soft robots | ||||||||||||||||||||
| 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 - Roboterdynamik & Simulation [RO] | ||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||
| Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||||||||||
| Hinterlegt am: | 27 Jan 2023 14:48 | ||||||||||||||||||||
| Letzte Änderung: | 27 Jan 2023 14:48 |
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