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

Authors: Maja Trumic; Cosimo Della Santina; Kosta Jovanovic; Adriano Fagiolini;

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

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. Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Learning & Autonomous Control

Countries
Italy, Netherlands, Germany
Subjects by Vocabulary

Microsoft Academic Graph classification: Adaptive control Computer science Soft robotics Solid modeling Kinematics Robustness (computer science) Control theory Representation (mathematics) business.industry Robotics Constant curvature Piecewise Robot Artificial intelligence business

Keywords

Control and Optimization, Kinematics, Soft robotics, adaptive control, Settore ING-INF/04 - Automatica, robotics, soft robots, Adaptation models, Adaptive control, uncertain systems., modeling, uncertain systems, Control and Systems Engineering, Solid modeling, Three-dimensional displays, flexible structures, Robots

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    visibility views 12
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  • citations
    This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    9
    popularity
    This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
    Top 10%
    influence
    This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    Average
    impulse
    This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
    Top 10%
    Powered byBIP!BIP!
  • 12
    views
    55
    downloads
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visibility
download
citations
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
views
OpenAIRE UsageCountsViews provided by UsageCounts
downloads
OpenAIRE UsageCountsDownloads provided by UsageCounts
9
Top 10%
Average
Top 10%
12
55
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