Dynamics for biomimetic continuum arms: A modal approach

Godage, Isuru S.; Branson, David T.; Medrano-Cerda, Gustavo A.; Caldwell, Darwin G.

doi:10.1109/robio.2011.6181270

Cited by 34 publications

(33 citation statements)

References 14 publications

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“…However, the complex kinematics and integral nature of the procedure prevent direct extension of the integral derivation proposed in (Godage et al, 2011a) to multisection continuum arms. Therefore we propose a section-wise formulation technique.…”

Section: Equations Of Motion For Variable Length Multisection Continumentioning

confidence: 99%

“…Similar to the procedure for the single continuum arm case reported in (Godage et al, 2011a), the integrals can be precalculated symbolically. However, unlike the single section continuum arms, integrable components of expressions are separated by complex non-integrable (terms independent of the variable of integration) components.…”

Section: Development Of An Efficient Computational Schemementioning

confidence: 99%

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Dynamics for variable length multisection continuum arms

Godage

Medrano-Cerda

Branson

et al. 2015

The International Journal of Robotics Research

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123

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Variable length multisection continuum arms are a class of continuum robotic manipulators that generate motion by structural mechanical deformation. Unlike most continuum robots, the sections of these arms do not have (central) supporting flexible backbone, and are actuated by multiple variable length actuators. Because of the constraining nature of actuators, the continuum sections can bend and/or elongate (compress) depending on the elongation/contraction characteristics of the actuators being used. Continuum arms have a number of distinctive differences with respect to traditional rigid arms namely: smooth bending, high inherent compliance, and adaptive whole arm grasping. However, due to numerical instability and the complexity of curve parametric models, there are no spatial dynamic models for multisection continuum arms. This paper introduces novel spatial dynamics and applies these to variable length multisection continuum arms with any number of sections. An efficient recursive computational scheme for deriving the equations of motion is presented. This is applied in a general form based on structurally accurate and numerically well posed modal kinematics that assumes circular arc deformation of continuum sections without torsion. It is shown that the proposed modal dynamics are highly scalable, producing efficient and accurate numerical results. The spatial dynamic simulation results are experimentally validated using a pneumatic muscle actuated multisection prototype continuum arm. For the first time this enables investigation of spatial dynamic effects in this class of continuum arms.

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Section: Equations Of Motion For Variable Length Multisection Continumentioning

confidence: 99%

Section: Development Of An Efficient Computational Schemementioning

confidence: 99%

Dynamics for variable length multisection continuum arms

Godage

Medrano-Cerda

Branson

et al. 2015

The International Journal of Robotics Research

Self Cite

123

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show abstract

“…Utilizing Lagrangian formulation, authors previous works presented dynamic models for continuum arms using hydraulic muscle actuators that are intended for underwater operations [9], [18]. The continuum arm is considered to made up of thin slices and kinetic and potential energies are found for a general slice.…”

Section: Dynamics Of Continuum Quadrupedmentioning

confidence: 99%

“…Similarly, the slice gravitational potential energy (GPE) is derived in (8) where g is the gravity vector in the inertial frame. Similar to the single continuum section case in [9], [18], slice energies are integrated along the length of the limb to compute the limb kinetic and potential energies. …”

Section: Dynamics Of Continuum Quadrupedmentioning

confidence: 99%

Locomotion with continuum limbs

Godage

Nanayakkara

Caldwell

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents the kinematics, dynamics, and experimental results for a novel quadruped robot using continuum limbs. We propose soft continuum limbs as a new paradigm for robotic locomotion in unstructured environments due to their potential to generate a wide array of locomotion behaviors ranging from walking, trotting, crawling, and propelling to whole arm grasping as a means of negotiating difficult obstacles. A straightforward method to derive the kinematics and dynamics for the proposed quadruped has been demonstrated through numerical simulations. Initial experiments on a prototype continuum quadruped demonstrate the ability to stand up from a flat-belly stance, absorb external disturbances such as maintaining stability after dropping from a height and after being perturbed by a collision, and crawling on flat and cluttered environments. Experiment results provide evidence that locomotion with soft continuum limbs are feasible and usable in unstructured environments for variety of applications.

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“…Rolf and Steil (2012) presented an efficient simulation implementation, and Escande et al (2015) showed model calibration techniques. Even if most work on modelling continuum robots mainly focused on kinematics, Godage et al (2011) proposed a dynamic representation using modal analysis, and Falkenhahn et al (2015a) recently introduced a dynamic model which is based on the constant curvature approach and the Euler-Lagrange formalism. Obviously, the model has to be calibrated for obtaining acceptable model-based control performance.…”

Section: Introductionmentioning

confidence: 99%

Robust Control of Continuum Robots using Interval Arithmetic

2017

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Abstract:We consider the problem of controlling pneumatically actuated continuum robots with uncertain system dynamics and input disturbance. While such systems are intrinsically structurally safe due to soft and light-weight components, their structural flexibility challenges the control stability and performance. We present a robust tracking control approach using interval arithmetic. With this approach a user defined tracking performance can be ultimately met without the need for empirical estimation of bounds of perturbations from model uncertainty and input disturbances. We show the validity of our approach by simulating scenarios with different parametric uncertainty and by comparing the performance with an existing inversedynamics controller.

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Dynamics for biomimetic continuum arms: A modal approach

Cited by 34 publications

References 14 publications

Dynamics for variable length multisection continuum arms

Dynamics for variable length multisection continuum arms

Locomotion with continuum limbs

Robust Control of Continuum Robots using Interval Arithmetic

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