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Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching

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


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/
Document Type:Article
Title:Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Trumic, MajaUniversity of PalermoUNSPECIFIEDUNSPECIFIED
Della Santina, CosimoUNSPECIFIEDhttps://orcid.org/0000-0003-1067-1134UNSPECIFIED
Jovanovic, KostaUniversity of BelgradeUNSPECIFIEDUNSPECIFIED
Fagiolini, AdrianoUniversity of PalermoUNSPECIFIEDUNSPECIFIED
Date:28 December 2020
Journal or Publication Title:IEEE Control Systems Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1934-1939
Publisher:IEEE - Institute of Electrical and Electronics Engineers
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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