Abstract
In this work, we describe an energy-based control method for under-actuated soft manipulators. The continuous dynamics of the soft robot are modeled by the differential geometry of Cosserat beams. Through a finite-dimensional truncation, a reduced port-Hamiltonian model is obtained that preserves desirable passivity conditions. Exploiting the passivity, we propose a stabilizing energy-shaping controller that ensures the potential energy is minimal at the desired end-effector configuration. Finally, the effectiveness of the energy-based controller is demonstrated through simulations of a soft manipulator inspired by the tentacle of an octopus.
| Original language | English |
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| Title of host publication | Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2021 |
| Editors | Oleg Gusikhin, Henk Nijmeijer, Kurosh Madani |
| Pages | 311-319 |
| Number of pages | 9 |
| ISBN (Electronic) | 9789897585227 |
| DOIs | |
| Publication status | Published - 2021 |
| Event | 18th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2021) - Online Duration: 6 Jul 2021 → 8 Jul 2021 Conference number: 18 http://www.icinco.org/?y=2021 |
Conference
| Conference | 18th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2021) |
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| Abbreviated title | ICINCO 2021 |
| Period | 6/07/21 → 8/07/21 |
| Internet address |
Keywords
- soft robotics
- Energy-based control
- Modeling and control
- Cosserat
- Energy-based Control
- Soft robotics
- Cosserat beam theory
- Dynamic modeling