Borja, Pablo und Dabiri, Azita und Della Santina, Cosimo (2022) Energy-based shape regulation of soft robots with unactuated dynamics dominated by elasticity. In: 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022, Seiten 396-402. IEEE. 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), 2022-04-04 - 2022-04-08, Edinburgh, United Kingdom. doi: 10.1109/RoboSoft54090.2022.9762071. ISBN 978-1-6654-0828-8.
Dieses Archiv kann nicht den Volltext zur Verfügung stellen.
Offizielle URL: https://ieeexplore.ieee.org/document/9762071
Kurzfassung
This paper proposes a model-based control design approach for a broad class of soft robots, having their elastic field dominating gravity in the unactuated coordinates. To this end, we consider finite-dimensional dynamic models obtained from approximations of the system's energy. Then, we propose a general control architecture that can stabilize soft robots based on potential energy shaping. We discuss three specializations of this general architecture: a PD with mixed feedback-feedforward gravity compensation, a PD with feedforward compensation, and a saturated version of the latter. We provide a physical interpretation of the controllers, and we illustrate their applicability through simulations.
elib-URL des Eintrags: | https://elib.dlr.de/197489/ | ||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | Energy-based shape regulation of soft robots with unactuated dynamics dominated by elasticity | ||||||||||||||||
Autoren: |
| ||||||||||||||||
Datum: | 28 April 2022 | ||||||||||||||||
Erschienen in: | 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
DOI: | 10.1109/RoboSoft54090.2022.9762071 | ||||||||||||||||
Seitenbereich: | Seiten 396-402 | ||||||||||||||||
Verlag: | IEEE | ||||||||||||||||
ISBN: | 978-1-6654-0828-8 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | soft robots | ||||||||||||||||
Veranstaltungstitel: | 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) | ||||||||||||||||
Veranstaltungsort: | Edinburgh, United Kingdom | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 4 April 2022 | ||||||||||||||||
Veranstaltungsende: | 8 April 2022 | ||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||
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) | ||||||||||||||||
Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||||||
Hinterlegt am: | 22 Sep 2023 12:57 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:57 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags