Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching
Maja Trumic (University of Belgrade, Università degli Studi di Palermo)
C. Lieu (German Aerospace Center, TU Delft - Learning & Autonomous Control, Technische Universität München)
Kosta Jovanovic (University of Belgrade)
Adriano Fagiolini (Università degli Studi di Palermo)
More Info
expand_more
Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.
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.