Despite having proven successful in generating precise motions under dynamic conditions in highly deformable soft-bodied robots, model based techniques are also prone to robustness issues connected to the intrinsic uncertain nature of the dynamics of these systems. This letter aims at tackling this challenge, by extending the augmented rigid robot formulation to a stable representation of three dimensional motions of soft robots, under Piecewise Constant Curvature hypothesis. In turn, the equivalence between soft-bodied and rigid robots permits to derive effective adaptive controllers for soft-bodied robots, achieving perfect posture regulation under considerable errors in the knowledge of system parameters. The effectiveness of the proposed control design is demonstrated through extensive simulations.

Trumic, M., Della Santina, C., Jovanovic, K., & Fagiolini, A. (2021). Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching. IEEE CONTROL SYSTEMS LETTERS, 5(6), 1934-1939 [10.1109/LCSYS.2020.3047737].

Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching

Trumic, M.;Fagiolini, A.
2021

Abstract

Despite having proven successful in generating precise motions under dynamic conditions in highly deformable soft-bodied robots, model based techniques are also prone to robustness issues connected to the intrinsic uncertain nature of the dynamics of these systems. This letter aims at tackling this challenge, by extending the augmented rigid robot formulation to a stable representation of three dimensional motions of soft robots, under Piecewise Constant Curvature hypothesis. In turn, the equivalence between soft-bodied and rigid robots permits to derive effective adaptive controllers for soft-bodied robots, achieving perfect posture regulation under considerable errors in the knowledge of system parameters. The effectiveness of the proposed control design is demonstrated through extensive simulations.
Settore ING-INF/04 - Automatica
Trumic, M., Della Santina, C., Jovanovic, K., & Fagiolini, A. (2021). Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching. IEEE CONTROL SYSTEMS LETTERS, 5(6), 1934-1939 [10.1109/LCSYS.2020.3047737].
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/10447/479632
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