Energy-based shape regulation of soft robots with unactuated dynamics dominated by elasticity
L.P. Borja Rosales (TU Delft - Learning & Autonomous Control)
A. Dabiri (TU Delft - Team Azita Dabiri)
C. Della Santina (German Aerospace Center, TU Delft - Learning & Autonomous Control)
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
This paper proposes a model-based control design approach for a broad class of soft robots, having their elastic field dominating gravity in the unactuated coordinates. To this end, we consider finite-dimensional dynamic models obtained from approximations of the system's energy. Then, we propose a general control architecture that can stabilize soft robots based on potential energy shaping. We discuss three specializations of this general architecture: a PD with mixed feedback-feedforward gravity compensation, a PD with feedforward compensation, and a saturated version of the latter. We provide a physical interpretation of the controllers, and we illustrate their applicability through simulations.