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

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

doi:10.1109/RoboSoft54090.2022.9762071

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 volume › Conference contribution › Scientific › peer-review

23 Citations (SciVal)

103 Downloads (Pure)

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 language	English
Title of host publication	Proceedings of the 5th International Conference on Soft Robotics (RoboSoft 2022)
Publisher	IEEE
Pages	396-402
Number of pages	7
ISBN (Print)	978-1-6654-0828-8
DOIs	https://doi.org/10.1109/RoboSoft54090.2022.9762071
Publication status	Published - 2022
Event	5th International Conference on Soft Robotics, RoboSoft 2022 - Edinburgh, United Kingdom Duration: 4 Apr 2022 → 8 Apr 2022

Publication series

Name	2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022

Conference

Conference	5th International Conference on Soft Robotics, RoboSoft 2022
Country/Territory	United Kingdom
City	Edinburgh
Period	4/04/22 → 8/04/22

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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10.1109/RoboSoft54090.2022.9762071

Energy_based_shape_regulation_of_soft_robots_with_unactuated_dynamics_dominated_by_elasticity_1Final published version, 1.83 MB

Cite this

Borja Rosales, L. P., Dabiri, A., & Della Santina, C. (2022). Energy-based shape regulation of soft robots with unactuated dynamics dominated by elasticity. In Proceedings of the 5th International Conference on Soft Robotics (RoboSoft 2022) (pp. 396-402). (2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022). IEEE. https://doi.org/10.1109/RoboSoft54090.2022.9762071

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title = "Energy-based shape regulation of soft robots with unactuated dynamics dominated by elasticity",

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.",

author = "{Borja Rosales}, L.P. and A. Dabiri and {Della Santina}, C.",

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.; 5th International Conference on Soft Robotics, RoboSoft 2022 ; Conference date: 04-04-2022 Through 08-04-2022",

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language = "English",

isbn = "978-1-6654-0828-8",

series = "2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022",

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pages = "396--402",

booktitle = "Proceedings of the 5th International Conference on Soft Robotics (RoboSoft 2022)",

address = "United States",

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Borja Rosales, LP, Dabiri, A & Della Santina, C 2022, Energy-based shape regulation of soft robots with unactuated dynamics dominated by elasticity. in Proceedings of the 5th International Conference on Soft Robotics (RoboSoft 2022). 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022, IEEE, pp. 396-402, 5th International Conference on Soft Robotics, RoboSoft 2022, Edinburgh, United Kingdom, 4/04/22. https://doi.org/10.1109/RoboSoft54090.2022.9762071

Energy-based shape regulation of soft robots with unactuated dynamics dominated by elasticity. / Borja Rosales, L.P.; Dabiri, A.; Della Santina, C.
Proceedings of the 5th International Conference on Soft Robotics (RoboSoft 2022). IEEE, 2022. p. 396-402 (2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022).

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

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

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