Modal-Based Kinematics and Contact Detection of Soft Robots
| Autor: | Eric J. Barth, Long Wang, Yue Chen, Kevin C. Galloway, Isuru S. Godage, Nabil Simaan |
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| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Computer science Biophysics Control engineering Robotics 02 engineering and technology Kinematics Space (commercial competition) 021001 nanoscience & nanotechnology Biomechanical Phenomena 020901 industrial engineering & automation Modal Artificial Intelligence Control and Systems Engineering Robot Computer Simulation 0210 nano-technology Algorithms |
| Zdroj: | Soft Robotics. 8:298-309 |
| ISSN: | 2169-5180 2169-5172 |
| Popis: | Soft robots offer an alternative approach to manipulate within a constrained space while maintaining a safe interaction with the external environment. Owing to its adaptable compliance characteristic, external contact force can easily deform the robot shapes and lead to undesired robot kinematic and dynamic properties. Accurate contact detection and contact location estimation are of critical importance for soft robot modeling, control, trajectory planning, and eventually affect the success of task completion. In this article, we focus on the investigation of a one degree of freedom (1-DoF) soft pneumatic bending robot, which is regarded as one of the fundamental components to construct complex, multi-DoFs soft robots. This 1-DoF soft robot is modeled through the integral representation of the spatial curve, where direct and instantaneous kinematics are calculated explicitly through a modal method. The fixed centrode deviation method is used to detect the external contact and estimate the contact location. Simulation results and experimental studies indicate that the contact location can be accurately estimated by solving a nonlinear least-square optimization problem. Experimental validation shows that the proposed algorithm is able to successfully estimate the contact location with the estimation error of 1.46 mm. |
| Databáze: | OpenAIRE |
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