Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots
| Autor: | Dominic Lakatos, Antonio Bicchi, Cosimo Della Santina, Alin Albu-Schaffer |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Computer science 02 engineering and technology Systems and Control (eess.SY) Electrical Engineering and Systems Science - Systems and Control Computer Science::Robotics Computer Science - Robotics 020901 industrial engineering & automation Simple (abstract algebra) Normal mode Control theory 0202 electrical engineering electronic engineering information engineering FOS: Electrical engineering electronic engineering information engineering Articulated Soft Robotics Nonlinear Oscillations 020208 electrical & electronic engineering Nonlinear system Elasticity (cloud computing) Feedback Control Feature (computer vision) Robot Robotics (cs.RO) Energy (signal processing) Locomotion |
| Zdroj: | Experimental Robotics Experimental Robotics ISBN: 9783030711504 ISER Springer Proceedings in Advanced Robotics Springer Proceedings in Advanced Robotics-Experimental Robotics Experimental Robotics: Proceedings of the 17th International Symposium (ISER 2020) |
| ISSN: | 2511-1256 2511-1264 |
| DOI: | 10.1007/978-3-030-71151-1_50 |
| Popis: | Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton\--like) structure. Leveraging on their bodies elasticity, soft robots promise to push their limits far beyond the barriers that affect their rigid counterparts. However, existing control strategies aiming at achieving this goal are either tailored on specific examples, or rely on model cancellations - thus defeating the purpose of introducing elasticity in the first place. In a series of recent works, we proposed to implement efficient oscillatory motions in robots subject to a potential field, aimed at solving these issues. A main component of this theory are Eigenmanifolds, that we defined as nonlinear continuations of the classic linear eigenspaces. When the soft robot is initialized on one of these manifolds, it evolves autonomously while presenting regular - and thus practically useful - evolutions, called normal modes. In addition to that, we proposed a control strategy making modal manifolds attractors for the system, and acting on the total energy of the soft robot to move from a modal evolution to the other. In this way, a large class of autonomous behaviors can be excited, which are direct expression of the embodied intelligence of the soft robot. Despite the fact that the idea behind our work comes from physical intuition and preliminary experimental validations, the formulation that we have provided so far is however rather theoretical, and very much in need of an experimental validation. The aim of this paper is to provide such an experimental validation using as testbed the articulated soft leg. We will introduce a simplified control strategy, and we will test its effectiveness on this system, to implement swing-like oscillations. We plan to extend this validation with a soft quadruped. This is a paper recently submitted to ISER, extracted from the previous version which was rejected by TRO |
| Databáze: | OpenAIRE |
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