Energy-based shape regulation of soft robots with unactuated dynamics dominated by elasticity

Conference paper (2022)

Authors

L.P. Borja Rosales Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering
A. Dabiri Team Azita Dabiri - Mechanical, Maritime and Materials Engineering
C. Della Santina Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering , German Aerospace Center
Research Group
Human-Robot Interaction (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 L.P. Borja Rosales, A. Dabiri, C. Della Santina
DOI: https://doi.org/10.1109/RoboSoft54090.2022.9762071
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Published Date

2022

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Human-Robot Interaction

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.

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