Model and Control of R-Soft Inverted Pendulum

Journal article (2024)

Authors

Daniele Caradonna Scuola Superiore Sant’Anna

M. Pierallini University of Pisa

C. Della Santina Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering , Deutsches Zentrum für Luft- und Raumfahrt (DLR)

Franco Angelini University of Pisa

Antonio Bicchi University of Pisa, Fondazione Istituto Italiano di Tecnologia

Research Group

Learning & Autonomous Control (Mechanical, Maritime and Materials Engineering) (TU Delft)

Strain Control Modeling Robots Numerical models Soft robotics Computational modeling Task analysis And Learning for Soft Robots Mathematical models Underactuated Robots

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Published Date

2024

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Learning & Autonomous Control

Abstract

Soft robots enable safe and robust operations in unstructured environments. However, the nonlinearities of their continuum structure complicate the accomplishment of classic robotic tasks, such as pick and place. In this work, we propose the R-Soft Inverted Pendulum, a Soft Inverted Pendulum (SIP) actuated only by a revolute joint at the base. The objective is to exploit the snap effect to execute pick and place task. We model the proposed system with two approaches: Curvature Parametrization and Strain Parametrization. The former is particularly simple and easy to implement in the classic dynamics of a rigid manipulator, although it suffers from numerical issues. The latter is more complex but guarantees numerical robustness. Additionally, we analyze the equilibria of the system and its structural properties. Furthermore, we propose a control law based on feedback linearization. Finally, we validate the proposed system through simulations.

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