dc.contributor.author | Marchese, Andrew Dominic | |
dc.contributor.author | Tedrake, Russell Louis | |
dc.contributor.author | Rus, Daniela L. | |
dc.date.accessioned | 2016-01-29T02:17:47Z | |
dc.date.available | 2016-01-29T02:17:47Z | |
dc.date.issued | 2015-05 | |
dc.identifier.isbn | 978-1-4799-6923-4 | |
dc.identifier.uri | http://hdl.handle.net/1721.1/101035 | |
dc.description.abstract | 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. | en_US |
dc.description.sponsorship | National Science Foundation (U.S.) (Grant 1117178) | en_US |
dc.description.sponsorship | National Science Foundation (U.S.) (Grant EAGER 1133224) | en_US |
dc.description.sponsorship | National Science Foundation (U.S.) (Grant IIS1226883) | en_US |
dc.description.sponsorship | National Science Foundation (U.S.) (Grant CCF1138967) | en_US |
dc.description.sponsorship | National Science Foundation (U.S.). Graduate Research Fellowship (Award 1122374) | en_US |
dc.language.iso | en_US | |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | en_US |
dc.relation.isversionof | http://dx.doi.org/10.1109/ICRA.2015.7139538 | en_US |
dc.rights | Creative Commons Attribution-Noncommercial-Share Alike | en_US |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-sa/4.0/ | en_US |
dc.source | MIT web domain | en_US |
dc.title | Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator | en_US |
dc.type | Article | en_US |
dc.identifier.citation | 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). | en_US |
dc.contributor.department | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory | en_US |
dc.contributor.department | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science | en_US |
dc.contributor.mitauthor | Marchese, Andrew Dominic | en_US |
dc.contributor.mitauthor | Tedrake, Russell Louis | en_US |
dc.contributor.mitauthor | Rus, Daniela L. | en_US |
dc.relation.journal | Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA) | en_US |
dc.eprint.version | Author's final manuscript | en_US |
dc.type.uri | http://purl.org/eprint/type/ConferencePaper | en_US |
eprint.status | http://purl.org/eprint/status/NonPeerReviewed | en_US |
dspace.orderedauthors | Marchese, Andrew D.; Tedrake, Russ; Rus, Daniela | en_US |
dc.identifier.orcid | https://orcid.org/0000-0001-5473-3566 | |
dc.identifier.orcid | https://orcid.org/0000-0002-8712-7092 | |
mit.license | OPEN_ACCESS_POLICY | en_US |