Modeling and control of soft robots is an up-todate and exciting area of research which has been tackled with complementary approaches so far. In this paper, we modify the existing continuum Cosserat approach optimizing it for soft robot arms which can be discretized in a finite number of sections and degrees of freedom. The resulting new piece-wise constant strain model extends the existing piece-wise constant curvature model by allowing torsion and shears strains which are fundamental to cope with out-of-the-plane external forces as appearing for example during ground locomotion. A first experimental comparison has been also conducted using one fluidic actuated leg of the soft crawler FASTT.
Discrete cosserat approach for soft robot dynamics: A new piece-wise constant strain model with torsion and shears / Renda, F.; Cacucciolo, V.; Dias, J.; Seneviratne, L.. - 2016-:(2016), pp. 7759808.5495-7759808.5502. (Intervento presentato al convegno 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 nel 2016) [10.1109/IROS.2016.7759808].
Discrete cosserat approach for soft robot dynamics: A new piece-wise constant strain model with torsion and shears
Cacucciolo V.;
2016-01-01
Abstract
Modeling and control of soft robots is an up-todate and exciting area of research which has been tackled with complementary approaches so far. In this paper, we modify the existing continuum Cosserat approach optimizing it for soft robot arms which can be discretized in a finite number of sections and degrees of freedom. The resulting new piece-wise constant strain model extends the existing piece-wise constant curvature model by allowing torsion and shears strains which are fundamental to cope with out-of-the-plane external forces as appearing for example during ground locomotion. A first experimental comparison has been also conducted using one fluidic actuated leg of the soft crawler FASTT.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
