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

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

Research output: Contribution to journalArticleScientificpeer-review

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 languageEnglish
Number of pages6
JournalIEEE Control Systems Letters
DOIs
Publication statusAccepted/In press - 1 Jan 2021

Keywords

  • Adaptation models
  • adaptive control
  • Adaptive control
  • flexible structures
  • Kinematics
  • modeling
  • robotics
  • Robots
  • Soft robotics
  • Solid modeling
  • Three-dimensional displays
  • uncertain systems.

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