On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control
Piecewise constant curvature models have proven to be an useful tool for describing kinematics and dynamics of soft robots. However, in their three dimensional formulation they suffer from many issues limiting their range of applicability - as discontinuities and singularities - mainly concerning th...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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Institute of Electrical and Electronics Engineers (IEEE)
2021
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| Online Access: | https://hdl.handle.net/1721.1/130462 |
| _version_ | 1826200413971415040 |
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| author | Della Santina, Cosimo Rus, Daniela L |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Della Santina, Cosimo Rus, Daniela L |
| author_sort | Della Santina, Cosimo |
| collection | MIT |
| description | Piecewise constant curvature models have proven to be an useful tool for describing kinematics and dynamics of soft robots. However, in their three dimensional formulation they suffer from many issues limiting their range of applicability - as discontinuities and singularities - mainly concerning the straight configuration of the robot. In this work we analyze these flaws, and we show that they are not due to the piecewise constant curvature assumption itself, but that instead they are a byproduct of the commonly employed direction/angle of bending parametrization of the state. We therefore consider an alternative state representation which solves all the discussed issues, and we derive a model based controller based on it. Examples in simulation are provided to support and describe the theoretical results. When using the novel parametrization, the system is able to perform more complex tasks, with a strongly reduced computational burden, and without incurring in spikes and discontinuous behaviors. |
| first_indexed | 2024-09-23T11:36:01Z |
| format | Article |
| id | mit-1721.1/130462 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T11:36:01Z |
| publishDate | 2021 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1304622022-09-27T20:37:48Z On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control Della Santina, Cosimo Rus, Daniela L Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Piecewise constant curvature models have proven to be an useful tool for describing kinematics and dynamics of soft robots. However, in their three dimensional formulation they suffer from many issues limiting their range of applicability - as discontinuities and singularities - mainly concerning the straight configuration of the robot. In this work we analyze these flaws, and we show that they are not due to the piecewise constant curvature assumption itself, but that instead they are a byproduct of the commonly employed direction/angle of bending parametrization of the state. We therefore consider an alternative state representation which solves all the discussed issues, and we derive a model based controller based on it. Examples in simulation are provided to support and describe the theoretical results. When using the novel parametrization, the system is able to perform more complex tasks, with a strongly reduced computational burden, and without incurring in spikes and discontinuous behaviors. National Science Foundation (U.S.) (Grant 1226883) National Science Foundation (U.S.) (Grant EFRI 1830901) 2021-04-13T11:58:07Z 2021-04-13T11:58:07Z 2020-04 2019-08 2021-04-05T15:01:30Z Article http://purl.org/eprint/type/JournalArticle 2377-3774 https://hdl.handle.net/1721.1/130462 Della Santina, Cosimo et al. “On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control.” IEEE Robotics and Automation Letters, 5, 2 (April 2020): 1001-1008 © 2020 The Author(s) en 10.1109/LRA.2020.2967269 IEEE Robotics and Automation Letters Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) Other repository |
| spellingShingle | Della Santina, Cosimo Rus, Daniela L On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control |
| title | On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control |
| title_full | On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control |
| title_fullStr | On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control |
| title_full_unstemmed | On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control |
| title_short | On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control |
| title_sort | on an improved state parametrization for soft robots with piecewise constant curvature and its use in model based control |
| url | https://hdl.handle.net/1721.1/130462 |
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