On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control
Name
On_an_Improved_State_Parametrization_for_Soft_Robo.pdf
Description
Accepted version
Size
2.09 MB
Format
Adobe PDF
Checksum (MD5)
ab7a4931c8df14790f4a49d22001dba2
Author(s)
Della Santina, Cosimo
Rus, Daniela L
Date Issued
April 2020
Journal
IEEE Robotics and Automation Letters
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Della Santina, Cosimo et al. “On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control.” IEEE Robotics and Automation Letters, 5, 2 (April 2020): 1001-1008 © 2020 The Author(s)
Version
Author's final manuscript
Abstract
Piecewise constant curvature models have proven to be an useful tool for describing kinematics and dynamics of soft robots. However, in their three dimensional formulation they suffer from many issues limiting their range of applicability - as discontinuities and singularities - mainly concerning the straight configuration of the robot. In this work we analyze these flaws, and we show that they are not due to the piecewise constant curvature assumption itself, but that instead they are a byproduct of the commonly employed direction/angle of bending parametrization of the state. We therefore consider an alternative state representation which solves all the discussed issues, and we derive a model based controller based on it. Examples in simulation are provided to support and describe the theoretical results. When using the novel parametrization, the system is able to perform more complex tasks, with a strongly reduced computational burden, and without incurring in spikes and discontinuous behaviors.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/LRA.2020.2967269
