FEM-based Reachable Workspace Estimation of Soft Robots using an Interval Analysis approach
| Autor: | Amehri, W. (Walid), Zheng, G. (Gang), Kruszewski, A. (Alexandre) |
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| Přispěvatelé: | Deformable Robots Simulation Team (DEFROST ), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Centrale Lille, Deformable Robots Simulation Team [DEFROST ], Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL] |
| Jazyk: | angličtina |
| Rok vydání: | 2022 |
| Předmět: | |
| Zdroj: | Soft Robotics Soft Robotics, In press |
| ISSN: | 2169-5172 2169-5180 |
| Popis: | International audience; Considering a soft robot with installed bounded actuators, this paper studies the reachable workspace estimation problem for a pre-chosen point of interest. To this aim, the method of nite-element has been used to obtain the static model of the studied robot and two methods are proposed (forward one which is based on Newton iterative method and forward-backward one which is based on interval analysis techniques) to study this estimation problem. Various simulations with dierent conguration scenarios are provided to show the eectiveness of the forward-backward approach which can largely reduce the exploration time, compared to the forward method. |
| Databáze: | OpenAIRE |
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