Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator
Author(s)Marchese, Andrew Dominic; Tedrake, Russell Louis; Rus, Daniela L.
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The goal of this work is to develop a soft robotic manipulation system that is capable of autonomous, dynamic, and safe interactions with humans and its environment. First, we develop a dynamic model for a multi-body fluidic elastomer manipulator that is composed entirely from soft rubber and subject to the self-loading effects of gravity. Then, we present a strategy for independently identifying all unknown components of the system: the soft manipulator, its distributed fluidic elastomer actuators, as well as drive cylinders that supply fluid energy. Next, using this model and trajectory optimization techniques we find locally optimal open-loop policies that allow the system to perform dynamic maneuvers we call grabs. In 37 experimental trials with a physical prototype, we successfully perform a grab 92% of the time. By studying such an extreme example of a soft robot, we can begin to solve hard problems inhibiting the mainstream use of soft machines.
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA)
Institute of Electrical and Electronics Engineers (IEEE)
Marchese, Andrew D., Russ Tedrake, and Daniela Rus. “Dynamics and Trajectory Optimization for a Soft Spatial Fluidic Elastomer Manipulator.” 2015 IEEE International Conference on Robotics and Automation (ICRA) (May 2015).
Author's final manuscript