Energy-based shape regulation of soft robots with unactuated dynamics dominated by elasticity

L.P. Borja Rosales, A. Dabiri, C. Della Santina

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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Abstract

This paper proposes a model-based control design approach for a broad class of soft robots, having their elastic field dominating gravity in the unactuated coordinates. To this end, we consider finite-dimensional dynamic models obtained from approximations of the system's energy. Then, we propose a general control architecture that can stabilize soft robots based on potential energy shaping. We discuss three specializations of this general architecture: a PD with mixed feedback-feedforward gravity compensation, a PD with feedforward compensation, and a saturated version of the latter. We provide a physical interpretation of the controllers, and we illustrate their applicability through simulations.
Original languageEnglish
Title of host publicationProceedings of the 5th International Conference on Soft Robotics (RoboSoft 2022)
PublisherIEEE
Pages396-402
ISBN (Print)978-1-6654-0828-8
DOIs
Publication statusPublished - 2022
Event5th International Conference on Soft Robotics, RoboSoft 2022 - Edinburgh, United Kingdom
Duration: 4 Apr 20228 Apr 2022

Conference

Conference5th International Conference on Soft Robotics, RoboSoft 2022
Country/TerritoryUnited Kingdom
CityEdinburgh
Period4/04/228/04/22

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.

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