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

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

doi:10.23919/ACC50511.2021.9482817

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

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

Learning & Autonomous Control

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

11 Citations (Scopus)

20 Downloads (Pure)

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
Title of host publication	Proceedings of the 2021 American Control Conference, ACC 2021
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	4991-4996
ISBN (Electronic)	978-1-6654-4197-1
DOIs	https://doi.org/10.23919/ACC50511.2021.9482817
Publication status	Published - 2021
Event	2021 American Control Conference, ACC 2021 - Virtual, New Orleans, United States Duration: 25 May 2021 → 28 May 2021

Conference

Conference	2021 American Control Conference, ACC 2021
Country/Territory	United States
City	Virtual, New Orleans
Period	25/05/21 → 28/05/21

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

adaptive control
flexible structures
modeling
robotics
uncertain systems

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10.23919/ACC50511.2021.9482817

Adaptive_Control_of_Soft_Robots_Based_on_an_Enhanced_3D_Augmented_Rigid_Robot_MatchingFinal published version, 420 KB

Cite this

@inproceedings{fcd3d97a5aa44b00a1ba733dc0e89095,

title = "Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching",

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.",

keywords = "adaptive control, flexible structures, modeling, robotics, uncertain systems",

author = "Maja Trumic and {Della Santina}, Cosimo and Kosta Jovanovic and Adriano Fagiolini",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; 2021 American Control Conference, ACC 2021 ; Conference date: 25-05-2021 Through 28-05-2021",

year = "2021",

doi = "10.23919/ACC50511.2021.9482817",

language = "English",

pages = "4991--4996",

booktitle = "Proceedings of the 2021 American Control Conference, ACC 2021",

publisher = "IEEE",

address = "United States",

}

Trumic, M, Della Santina, C, Jovanovic, K & Fagiolini, A 2021, Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching. in Proceedings of the 2021 American Control Conference, ACC 2021. IEEE, Piscataway, NJ, USA, pp. 4991-4996, 2021 American Control Conference, ACC 2021, Virtual, New Orleans, United States, 25/05/21. https://doi.org/10.23919/ACC50511.2021.9482817

Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching. / Trumic, Maja; Della Santina, Cosimo; Jovanovic, Kosta et al.
Proceedings of the 2021 American Control Conference, ACC 2021. Piscataway, NJ, USA: IEEE, 2021. p. 4991-4996.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AU - Della Santina, Cosimo

AU - Jovanovic, Kosta

AU - Fagiolini, Adriano

N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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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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