Abstract
Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and manipulation capabilities and safe human-robot interactions. However, the interactions, or perturbations by external forces cause the soft structure to deform in an infinite degree of freedom (DOF) space. To control such system, reduced order models are needed; typically models consider piecewise sections of constant curvature although external forces often deform the structure out of the constant curvature hypothesis. In this work we perform an analysis of the trade-off between computational treatability and modelling accuracy. We then propose a new kinematic model, the Piecewise Affine Curvature (PAC) which we validate theoretically and experimentally showing that this higher-order model better captures the configuration of a soft continuum body robot when perturbed by the external forces. In comparison to the current state of the art Piecewise Constant Curvature (PCC) model we demonstrate up to 30% reduction in error for the end position of a soft continuum body robot.
Original language | English |
---|---|
Title of host publication | Proceedings of the IEEE International Conference on Soft Robotics, RoboSoft 2023 |
Publisher | IEEE |
Number of pages | 7 |
DOIs | |
Publication status | Published - 2023 |
Event | IEEE International Conference on Soft Robotics, RoboSoft 2023 - Singapore Duration: 3 Apr 2023 → 7 Apr 2023 https://softroboticsconference.org/ |
Conference
Conference | IEEE International Conference on Soft Robotics, RoboSoft 2023 |
---|---|
Period | 3/04/23 → 7/04/23 |
Internet address |
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-careOtherwise 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.