Sensing Soft Robot Shape Using IMUs: An Experimental Investigation

Josie Hughes; Francesco Stella; Cosimo Della Santina; Daniela Rus

doi:10.1007/978-3-030-71151-1_48

Sensing Soft Robot Shape Using IMUs: An Experimental Investigation

Josie Hughes^*, Francesco Stella, Cosimo Della Santina, Daniela Rus

^*Corresponding author for this work

Learning & Autonomous Control

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

15 Citations (Scopus)

311 Downloads (Pure)

Abstract

Shape estimation of soft robotic systems is challenging due to the range of deformations that can be achieved, and the limited availability of physically compatible sensors. We propose a method of reconstruction using Inertial Measurement Units (IMUs), which are mounted on segments of a deformable manipulator. This approach utilizes the piecewise constant curvature model in combination with the quaternion data from IMUs to allow for accuracy reconstruction and closed-loop control. A key strength of this approach is that it is hardware agnostic, and could be used on any soft structure to provide pose reconstruction and controllability. We explore this approach experimentally on a growing, extendable 3D printed continuum body structure, demonstrating that high accuracy reconstruction that can be achieved.

Original language	English
Title of host publication	Experimental Robotics
Subtitle of host publication	Proceedings of the 17th International Symposium (ISER 2020)
Editors	Bruno Siciliano, Cecilia Laschi, Oussama Khatib
Publisher	Springer
Pages	543-552
ISBN (Electronic)	978-3-030-71151-1
ISBN (Print)	978-3-030-71150-4
DOIs	https://doi.org/10.1007/978-3-030-71151-1_48
Publication status	Published - 2021
Event	ISER 2020: 17th International Symposium on Experimental Robotics - , Malta Duration: 9 Nov 2021 → 12 Nov 2021

Publication series

Name	Springer Proceedings in Advanced Robotics
Volume	19
ISSN (Print)	2511-1256
ISSN (Electronic)	2511-1264

Conference

Conference	ISER 2020: 17th International Symposium on Experimental Robotics
Country/Territory	Malta
Period	9/11/21 → 12/11/21

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

Kinematic control
Shape estimation
Soft manipulation

Access to Document

10.1007/978-3-030-71151-1_48

Hughes2021_Chapter_SensingSoftRobotShapeUsingIMUsFinal published version, 2.74 MB

Cite this

Hughes, J., Stella, F., Santina, C. D., & Rus, D. (2021). Sensing Soft Robot Shape Using IMUs: An Experimental Investigation. In B. Siciliano, C. Laschi, & O. Khatib (Eds.), Experimental Robotics: Proceedings of the 17th International Symposium (ISER 2020) (pp. 543-552). (Springer Proceedings in Advanced Robotics; Vol. 19). Springer. https://doi.org/10.1007/978-3-030-71151-1_48

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title = "Sensing Soft Robot Shape Using IMUs: An Experimental Investigation",

abstract = "Shape estimation of soft robotic systems is challenging due to the range of deformations that can be achieved, and the limited availability of physically compatible sensors. We propose a method of reconstruction using Inertial Measurement Units (IMUs), which are mounted on segments of a deformable manipulator. This approach utilizes the piecewise constant curvature model in combination with the quaternion data from IMUs to allow for accuracy reconstruction and closed-loop control. A key strength of this approach is that it is hardware agnostic, and could be used on any soft structure to provide pose reconstruction and controllability. We explore this approach experimentally on a growing, extendable 3D printed continuum body structure, demonstrating that high accuracy reconstruction that can be achieved.",

keywords = "Kinematic control, Shape estimation, Soft manipulation",

author = "Josie Hughes and Francesco Stella and Santina, {Cosimo Della} and Daniela Rus",

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.; ISER 2020: 17th International Symposium on Experimental Robotics<br/> ; Conference date: 09-11-2021 Through 12-11-2021",

year = "2021",

doi = "10.1007/978-3-030-71151-1_48",

language = "English",

isbn = "978-3-030-71150-4",

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Hughes, J, Stella, F , Santina, CD & Rus, D 2021, Sensing Soft Robot Shape Using IMUs: An Experimental Investigation. in B Siciliano, C Laschi & O Khatib (eds), Experimental Robotics: Proceedings of the 17th International Symposium (ISER 2020). Springer Proceedings in Advanced Robotics, vol. 19, Springer, pp. 543-552, ISER 2020: 17th International Symposium on Experimental Robotics
, Malta, 9/11/21. https://doi.org/10.1007/978-3-030-71151-1_48

Sensing Soft Robot Shape Using IMUs: An Experimental Investigation. / Hughes, Josie; Stella, Francesco ; Santina, Cosimo Della et al.
Experimental Robotics: Proceedings of the 17th International Symposium (ISER 2020). ed. / Bruno Siciliano; Cecilia Laschi; Oussama Khatib. Springer, 2021. p. 543-552 (Springer Proceedings in Advanced Robotics; Vol. 19).

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

TY - CHAP

T1 - Sensing Soft Robot Shape Using IMUs

T2 - ISER 2020: 17th International Symposium on Experimental Robotics<br/>

AU - Hughes, Josie

AU - Stella, Francesco

AU - Santina, Cosimo Della

AU - Rus, Daniela

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.

PY - 2021

Y1 - 2021

N2 - Shape estimation of soft robotic systems is challenging due to the range of deformations that can be achieved, and the limited availability of physically compatible sensors. We propose a method of reconstruction using Inertial Measurement Units (IMUs), which are mounted on segments of a deformable manipulator. This approach utilizes the piecewise constant curvature model in combination with the quaternion data from IMUs to allow for accuracy reconstruction and closed-loop control. A key strength of this approach is that it is hardware agnostic, and could be used on any soft structure to provide pose reconstruction and controllability. We explore this approach experimentally on a growing, extendable 3D printed continuum body structure, demonstrating that high accuracy reconstruction that can be achieved.

AB - Shape estimation of soft robotic systems is challenging due to the range of deformations that can be achieved, and the limited availability of physically compatible sensors. We propose a method of reconstruction using Inertial Measurement Units (IMUs), which are mounted on segments of a deformable manipulator. This approach utilizes the piecewise constant curvature model in combination with the quaternion data from IMUs to allow for accuracy reconstruction and closed-loop control. A key strength of this approach is that it is hardware agnostic, and could be used on any soft structure to provide pose reconstruction and controllability. We explore this approach experimentally on a growing, extendable 3D printed continuum body structure, demonstrating that high accuracy reconstruction that can be achieved.

KW - Kinematic control

KW - Shape estimation

KW - Soft manipulation

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T3 - Springer Proceedings in Advanced Robotics

SP - 543

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A2 - Siciliano, Bruno

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Y2 - 9 November 2021 through 12 November 2021

ER -

Sensing Soft Robot Shape Using IMUs: An Experimental Investigation

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Keywords

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