2026-09-19T06:31:39Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1131262026-06-06T00:48:53Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Russ Tedrake.
Mirano, Geronimo (Geronimo J.)
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2018-01-12T20:57:53Z
2018-01-12T20:57:53Z
2017
2017
http://hdl.handle.net/1721.1/113126
1017567043
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2017.
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (page 47).
Soft robot hands offer numerous advantages over rigid ones for manipulation, including robustness and safety. Yet, compared to rigid robots, soft robots are characterized by continuous mechanics, and finite-element approximations with many degrees of freedom present a significant obstacle for modern control approaches. The central question my thesis explores is whether we can capture the benefits of soft robot hands with relatively simple dynamical models. Specifically, we demonstrate a very simple model of a 2D soft manipulator that uses pulleys and cables to model deformable surfaces. This model captures much of the qualitative behavior of soft membranes, while also proving amenable to modern control techniques. We validate this model physically using a hardware set-up. We then demonstrate a simple quasi-static Jacobian controller which solves a second-order cone program to achieve the task of in-hand object repositioning.
by Geronimo Mirano.
M.Eng.
47 pages
eng
Massachusetts Institute of Technology
MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.
http://dspace.mit.edu/handle/1721.1/7582
Electrical Engineering and Computer Science.
Jacobian-based control of soft robots for manipulation using implicit surface models
Thesis
application/pdf
Publication
unknown
unknown
<Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="19818934-07c0-493e-97dd-29f0fc3b740c">
<Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type>
<Language>eng</Language>
<Title>Jacobian-based control of soft robots for manipulation using implicit surface models</Title>
<PublishedIn>
<Publication>
</Publication>
</PublishedIn>
<PublicationDate>2017</PublicationDate>
<Authors>
<Author>
<DisplayName>Mirano, Geronimo (Geronimo J.)</DisplayName>
<Affiliation>
<OrgUnit>
</OrgUnit>
</Affiliation>
</Author>
</Authors>
<Editors>
</Editors>
<Publishers>
<Publisher>
<DisplayName>Massachusetts Institute of Technology</DisplayName>
<OrgUnit />
</Publisher>
</Publishers>
<License>http://dspace.mit.edu/handle/1721.1/7582</License>
<Keyword>Electrical Engineering and Computer Science.</Keyword>
<Abstract>Soft robot hands offer numerous advantages over rigid ones for manipulation, including robustness and safety. Yet, compared to rigid robots, soft robots are characterized by continuous mechanics, and finite-element approximations with many degrees of freedom present a significant obstacle for modern control approaches. The central question my thesis explores is whether we can capture the benefits of soft robot hands with relatively simple dynamical models. Specifically, we demonstrate a very simple model of a 2D soft manipulator that uses pulleys and cables to model deformable surfaces. This model captures much of the qualitative behavior of soft membranes, while also proving amenable to modern control techniques. We validate this model physically using a hardware set-up. We then demonstrate a simple quasi-static Jacobian controller which solves a second-order cone program to achieve the task of in-hand object repositioning.</Abstract>
<Access xmlns="http://purl.org/coar/access_right"
>
</Access>
</Publication>