TY - GEN
T1 - Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching
AU - Trumic, Maja
AU - Della Santina, Cosimo
AU - Jovanovic, Kosta
AU - Fagiolini, Adriano
N1 - Publisher Copyright:
© 2021 American Automatic Control Council.
PY - 2021/5/25
Y1 - 2021/5/25
N2 - Despite having proven successful in generating precise motions under dynamic conditions in highly deformable soft-bodied robots, model based techniques are also prone to robustness issues connected to the intrinsic uncertain nature of the dynamics of these systems. This letter aims at tackling this challenge, by extending the augmented rigid robot formulation to a stable representation of three dimensional motions of soft robots, under Piecewise Constant Curvature hypothesis. In turn, the equivalence between soft-bodied and rigid robots permits to derive effective adaptive controllers for soft-bodied robots, achieving perfect posture regulation under considerable errors in the knowledge of system parameters. The effectiveness of the proposed control design is demonstrated through extensive simulations.
AB - Despite having proven successful in generating precise motions under dynamic conditions in highly deformable soft-bodied robots, model based techniques are also prone to robustness issues connected to the intrinsic uncertain nature of the dynamics of these systems. This letter aims at tackling this challenge, by extending the augmented rigid robot formulation to a stable representation of three dimensional motions of soft robots, under Piecewise Constant Curvature hypothesis. In turn, the equivalence between soft-bodied and rigid robots permits to derive effective adaptive controllers for soft-bodied robots, achieving perfect posture regulation under considerable errors in the knowledge of system parameters. The effectiveness of the proposed control design is demonstrated through extensive simulations.
KW - adaptive control
KW - flexible structures
KW - modeling
KW - robotics
KW - uncertain systems
UR - http://www.scopus.com/inward/record.url?scp=85111943143&partnerID=8YFLogxK
U2 - 10.23919/ACC50511.2021.9482817
DO - 10.23919/ACC50511.2021.9482817
M3 - Conference contribution
AN - SCOPUS:85111943143
T3 - Proceedings of the American Control Conference
SP - 4991
EP - 4996
BT - 2021 American Control Conference, ACC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 American Control Conference, ACC 2021
Y2 - 25 May 2021 through 28 May 2021
ER -