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Prescribing Cartesian Stiffness of Soft Robots by Co-Optimization of Shape and Segment-Level Stiffness

Stella, Francesco and Hughes, Josie and Rus, Daniela and Della Santina, Cosimo (2023) Prescribing Cartesian Stiffness of Soft Robots by Co-Optimization of Shape and Segment-Level Stiffness. Soft Robotics, 10 (4), pp. 701-712. Mary Ann Liebert. doi: 10.1089/soro.2022.0025. ISSN 2169-5172.

Full text not available from this repository.

Official URL: https://doi.org/10.1089/soro.2022.0025

Abstract

Soft robots aim to revolutionize how robotic systems interact with the environment thanks to their inherent compliance. Some of these systems are even able to modulate their physical softness. However, simply equipping a robot with softness will not generate intelligent behaviors. Indeed, most interaction tasks require careful specification of the compliance at the interaction point; some directions must be soft and others firm (e.g., while drawing, entering a hole, tracing a surface, assembling components). On the contrary, without careful planning, the preferential directions of deformation of a soft robot are not aligned with the task. With this work, we propose a strategy to prescribe variations of the physical stiffness and the robot's posture so to implement a desired Cartesian stiffness and location of the contact point. We validate the algorithm in simulation and with experiments. To perform the latter, we also present a new tendon-driven soft manipulator, equipped with variable-stiffness segments and proprioceptive sensing and capable to move in three dimensional. We show that, combining the intelligent hardware with the proposed algorithm, we can obtain the desired stiffness at the end-effector over the workspace.

Item URL in elib:https://elib.dlr.de/197511/
Document Type:Article
Title:Prescribing Cartesian Stiffness of Soft Robots by Co-Optimization of Shape and Segment-Level Stiffness
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Stella, FrancescoCREATE Lab, EPFLUNSPECIFIEDUNSPECIFIED
Hughes, JosieCREATE Lab, EPFLUNSPECIFIEDUNSPECIFIED
Rus, DanielaCSAIL/MITUNSPECIFIEDUNSPECIFIED
Della Santina, CosimoUNSPECIFIEDhttps://orcid.org/0000-0003-1067-1134UNSPECIFIED
Date:2 May 2023
Journal or Publication Title:Soft Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:10
DOI:10.1089/soro.2022.0025
Page Range:pp. 701-712
Publisher:Mary Ann Liebert
ISSN:2169-5172
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
Deposited By: Strobl, Dr. Klaus H.
Deposited On:24 Sep 2023 06:22
Last Modified:25 Sep 2023 09:09

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