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

被引：13

作者：

Trumic, Maja ^{[1
,2
]}

Santina, Cosimo Della ^{[3
,4
,5
]}

Jovanovic, Kosta ^{[2
]}

Fagiolini, Adriano ^{[1
]}

机构：

[1] Univ Palermo, Dept Engn, I-90128 Palermo, Italy

[2] Univ Belgrade, Sch Elect Engn, Belgrade 11000, Serbia

[3] Delft Univ Technol, Dept Cognit Robot, NL-2628 CD Delft, Netherlands

[4] German Aerosp Ctr DLR, Inst Robot & Mechatron, D-82234 Wessling, Germany

[5] Tech Univ Munich, Dept Informat, D-80333 Munich, Germany

来源：

IEEE CONTROL SYSTEMS LETTERS | 2021年 / 5卷 / 06期

关键词：

Robots; Soft robotics; Adaptation models; Kinematics; Adaptive control; Three-dimensional displays; Solid modeling; Robotics; flexible structures; adaptive control; modeling; uncertain systems;

D O I：

10.1109/LCSYS.2020.3047737

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：1934 / 1939

页数：6

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