Design and control of a soft and continuously deformable 2D robotic manipulation system
Author(s)Marchese, Andrew Dominic; Komorowski, Konrad; Onal, Cagdas; Rus, Daniela L.
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In this paper we describe the design, fabrication, control, and experimental validation of a soft and highly compliant 2D manipulator. The arm consists of several body segments actuated using bi-directional fluidic elastomer actuators and is fabricated using a novel composite molding process. We use a cascaded PI and PID computation and novel fluidic drive cylinders to provide closed-loop control of curvature for each soft and highly compliant body segment. Furthermore, we develop algorithms to compute the arm's forward and inverse kinematics in a manner consistent with piece-wise constant curvature continuum manipulators. These computation and control systems enable this highly compliant robot to autonomously follow trajectories. Experimental results with a robot consisting of six segments show that controlled movement of a soft and highly compliant manipulator is feasible.
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA)
Institute of Electrical and Electronics Engineers (IEEE)
Marchese, Andrew D., Konrad Komorowski, Cagdas D. Onal, and Daniela Rus. “Design and Control of a Soft and Continuously Deformable 2D Robotic Manipulation System.” 2014 IEEE International Conference on Robotics and Automation (ICRA) (May 2014).
Author's final manuscript