Controllability pre-verification of silicone soft robots based on finite-element method
| Autor: | Alexandre Kruszewski, Christian Duriez, Maxime Thieffry, Olivier Goury, Gang Zheng |
|---|---|
| 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), Centrale Lille, 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), Institut de Radioprotection et de Sûreté Nucléaire (IRSN) |
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
Model order reduction
0209 industrial biotechnology Computer science Process (computing) Control engineering 02 engineering and technology Finite element method [SPI.AUTO]Engineering Sciences [physics]/Automatic Controllability Computer Science::Robotics 020901 industrial engineering & automation [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Projection (set theory) Galerkin method |
| Zdroj: | ICRA 2019-International Conference on Robotics and Automation ICRA 2019-International Conference on Robotics and Automation, May 2019, Montreal, Canada. pp.7395-7400, ⟨10.1109/ICRA.2019.8794370⟩ ICRA |
| Popis: | International audience; Soft robot is an emergent research field which has variant promising applications. However, the design of soft robots nowadays still follows the trial-and-error process, which is not at all efficient. This paper proposes to design soft robots by pre-checking controllability during the numerical design phase. Finite-element method is used to model the dynamics of silicone soft robots, based on which the differential geometric method is applied to analyze the controllability of the points of interest. Such a verification is also investigated via model order reduction technique and Galerkin projection. The proposed methodology is finally validated by numerically designing a controllable parallel soft robot. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|