Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer
© 2019 IEEE. This paper presents a computationally efficient method to model and simulate soft robots. Finite element methods enable us to simulate and control soft robots, but require us to work with a large dimensional system. This limits their use in real-time simulation and makes those methods l...
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| Format: | Article |
| Language: | English |
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IEEE
2021
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| Online Access: | https://hdl.handle.net/1721.1/137235 |
| _version_ | 1826207156460847104 |
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| author | Katzschmann, Robert K. Thieffry, Maxime Goury, Olivier Kruszewski, Alexandre Guerra, Thierry-Marie Duriez, Christian Rus, Daniela |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Katzschmann, Robert K. Thieffry, Maxime Goury, Olivier Kruszewski, Alexandre Guerra, Thierry-Marie Duriez, Christian Rus, Daniela |
| author_sort | Katzschmann, Robert K. |
| collection | MIT |
| description | © 2019 IEEE. This paper presents a computationally efficient method to model and simulate soft robots. Finite element methods enable us to simulate and control soft robots, but require us to work with a large dimensional system. This limits their use in real-time simulation and makes those methods less suitable for control design tools. Using model order reduction, it is possible to create a reduced order system for building controllers and observers. Model reduction errors are taken into account in the design of the low-order feedback, and it is then applied to the large dimensional, unreduced model. The control architecture is based on a linearized model of the robot and enables the control of the robot around this equilibrium point. To show the performance of this control method, pose-to-pose and trajectory tracking experiments are conducted on a pneumatically actuated soft arm. The soft arm has 12 independent interior cavities that can be pressurized and cause the arm to move in three dimensions. The arm is made of a rubber material and is casted through a lost-wax fabrication technique. |
| first_indexed | 2024-09-23T13:44:55Z |
| format | Article |
| id | mit-1721.1/137235 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T13:44:55Z |
| publishDate | 2021 |
| publisher | IEEE |
| record_format | dspace |
| spelling | mit-1721.1/1372352023-02-03T20:41:47Z Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer Katzschmann, Robert K. Thieffry, Maxime Goury, Olivier Kruszewski, Alexandre Guerra, Thierry-Marie Duriez, Christian Rus, Daniela Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science © 2019 IEEE. This paper presents a computationally efficient method to model and simulate soft robots. Finite element methods enable us to simulate and control soft robots, but require us to work with a large dimensional system. This limits their use in real-time simulation and makes those methods less suitable for control design tools. Using model order reduction, it is possible to create a reduced order system for building controllers and observers. Model reduction errors are taken into account in the design of the low-order feedback, and it is then applied to the large dimensional, unreduced model. The control architecture is based on a linearized model of the robot and enables the control of the robot around this equilibrium point. To show the performance of this control method, pose-to-pose and trajectory tracking experiments are conducted on a pneumatically actuated soft arm. The soft arm has 12 independent interior cavities that can be pressurized and cause the arm to move in three dimensions. The arm is made of a rubber material and is casted through a lost-wax fabrication technique. 2021-11-03T16:19:26Z 2021-11-03T16:19:26Z 2019-04 2019-07-17T15:28:47Z Article http://purl.org/eprint/type/ConferencePaper https://hdl.handle.net/1721.1/137235 Katzschmann, Robert K., Thieffry, Maxime, Goury, Olivier, Kruszewski, Alexandre, Guerra, Thierry-Marie et al. 2019. "Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer." en 10.1109/robosoft.2019.8722804 Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf IEEE Other repository |
| spellingShingle | Katzschmann, Robert K. Thieffry, Maxime Goury, Olivier Kruszewski, Alexandre Guerra, Thierry-Marie Duriez, Christian Rus, Daniela Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer |
| title | Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer |
| title_full | Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer |
| title_fullStr | Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer |
| title_full_unstemmed | Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer |
| title_short | Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer |
| title_sort | dynamically closed loop controlled soft robotic arm using a reduced order finite element model with state observer |
| url | https://hdl.handle.net/1721.1/137235 |
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