Print Email Facebook Twitter Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching Title Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching Author Trumic, Maja (University of Belgrade; Università degli Studi di Palermo) Della Santina, C. (TU Delft Learning & Autonomous Control; Technische Universität München; German Aerospace Center) Jovanovic, Kosta (University of Belgrade) Fagiolini, Adriano (Università degli Studi di Palermo) Date 2021 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. Subject Adaptation modelsadaptive controlAdaptive controlflexible structuresKinematicsmodelingroboticsRobotsSoft roboticsSolid modelingThree-dimensional displaysuncertain systems. To reference this document use: http://resolver.tudelft.nl/uuid:0dc17891-dfc0-4fee-8835-af5399e9a7e1 DOI https://doi.org/10.1109/LCSYS.2020.3047737 Embargo date 2021-06-28 ISSN 2475-1456 Source IEEE Control Systems Letters, 5 (6), 1934-1939 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. Part of collection Institutional Repository Document type journal article Rights © 2021 Maja Trumic, C. Della Santina, Kosta Jovanovic, Adriano Fagiolini Files PDF 09309322.pdf 6.22 MB Close viewer /islandora/object/uuid:0dc17891-dfc0-4fee-8835-af5399e9a7e1/datastream/OBJ/view