Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching

Maja Trumic; Cosimo Della Santina; Kosta Jovanovic; Adriano Fagiolini

doi:10.1109/LCSYS.2020.3047737

Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching

Maja Trumic, Cosimo Della Santina, Kosta Jovanovic, Adriano Fagiolini

nformatics 6 - Chair of IRobotics, Artificial Intelligence and Real-time Systems

Research output: Contribution to journal › Article › peer-review

14 Scopus citations

Abstract

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.

Original language	English
Article number	9309322
Pages (from-to)	1934-1939
Number of pages	6
Journal	IEEE Control Systems Letters
Volume	5
Issue number	6
DOIs	https://doi.org/10.1109/LCSYS.2020.3047737
State	Published - Dec 2021

Keywords

Robotics
adaptive control
flexible structures
modeling
uncertain systems

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10.1109/LCSYS.2020.3047737

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abstract = "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.",

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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.

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Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching

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Keywords

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