Efficient computation of multiple coupled Cosserat rod models for real-time simulation and control of parallel continuum manipulators

Till, John; Bryson, Caroline E.; Chung, Scotty; Orekhov, Andrew L.; Rucker, D. Caleb

doi:10.1109/icra.2015.7139904

Cited by 77 publications

(43 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This limitation is largely to be attributed to the lack of a soft robotic brain exploiting the embodied intelligence that the elastic body of a soft robot provides (Pfeifer et al, 2012). Both tasks, dynamic movements and compliant interactions, are indeed inherently dynamical, whereas most of the existing control algorithms for soft robots rely only on static modeling (George Thuruthel et al, 2018; Godage et al, 2015a; Lismonde et al, 2017; Mahl et al, 2014; Skorina et al, 2016; Till et al, 2015; Wang et al, 2017; Webster III and Jones, 2010; Zhang et al, 2016) .…”

Section: Introductionmentioning

confidence: 99%

Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment

Santina

Katzschmann

Bicchi

et al. 2020

The International Journal of Robotics Research

200

126

View full text Add to dashboard Cite

Leveraging the elastic bodies of soft robots promises to enable the execution of dynamic motions as well as compliant and safe interaction with an unstructured environment. However, the exploitation of these abilities is constrained by the lack of appropriate control strategies. This work tackles for the first time the development of closed-loop dynamic controllers for a continuous soft robot. We present two architectures designed for dynamic trajectory tracking and surface following, respectively. Both controllers are designed to preserve the natural softness of the robot and adapt to interactions with an unstructured environment. The validity of the controllers is proven analytically within the hypotheses of the model. The controllers are evaluated through an extensive series of simulations, and through experiments on a physical soft robot capable of planar motions.

show abstract

Section: Introductionmentioning

confidence: 99%

Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment

Santina

Katzschmann

Bicchi

et al. 2020

The International Journal of Robotics Research

200

126

View full text Add to dashboard Cite

show abstract

“…The resulting PCR offers six degrees of freedom (DoF). The kineto-static model of the elastic rod's deformation bases on Cosserat theory [6]. In [3], an experimental evaluation of pose accuracy and repeatability is presented, while a framework for modeling, analysis, and actuation-based force sensing is provided [7].…”

Section: A Related Workmentioning

confidence: 99%

Modeling, Calibration, and Evaluation of a Tendon-Actuated Planar Parallel Continuum Robot

Nuelle

Sterneck

Lilge

et al. 2020

IEEE Robot. Autom. Lett.

View full text Add to dashboard Cite

In this work, a novel planar parallel continuum robot (PCR) is introduced, consisting of three kinematic chains that are coupled at a triangular end-effector platform and include tendon-actuated continuum segments. The kinematics of the resulting structure are derived by adapting the descriptions for conventional planar parallel manipulators to include constant curvature bending of the utilized continuous segments. To account for friction and non-linear material effects, a data-driven model is used to relate tendon displacements and curvature of the utilized continuum segments. A calibration of the derived kinematic model is conducted to specifically represent the constructed prototype. This includes the calibration of geometric parameters for each kinematic chain and for the end-effector platform.During evaluation, positioning repeatability of 1.0% in relation to one continuum segment length of the robot, and positioning accuracy of 1.4%, are achieved. These results are comparable to commonly used kineto-static modeling approaches for PCR. The presented model achieves high path accuracies regarding the robot's end-effector pose in an open-loop control scenario.

show abstract

“…Da-Vinci surgical which are highly definitive is prioritize by surgeons for important depth mechanics consideration [45]. For delivering instrumental safety to operative patient manipulator compliance is a very important aspect in designing and considerations [46,47]. But in case of contact forces for tissues contact forces and moments for robot deflection for drawing anatomical aspects in motion planning for elimination of uneven and non-desirable deflections [3,25].…”

Section: Literature Workmentioning

confidence: 99%

Joint Space Redundancy Resolution of Serial Link Manipulator: An Inverse Kinematics and Continuum Structure Numerical Approach

Jain

Roy

2020

Preprint

View full text Add to dashboard Cite

Automatic control to any of robot manipulators, some kind of issues are being observed. A numerical method for solution generation to the inverse kinematics problem of redundant robotic manipulators is presented to obtain the smoothest algorithm as possible, leading to a robust iterative method. After the primary objective of the reachability of end-effectors to the target point is achieved, the aim is set to resolve the redundant degrees of freedom of redundant manipulator. This method is numerically stable since it converges to the correct answer with virtually any initial approximation, and it is not sensitive to the singular configurations of the manipulator. In addition, this technique is computationally effective and able to apply for serial manipulators with any DOF applications. A planar 3R-DOF serial link redundant manipulator is considered as exemplar problem for solving. Also, the continuum approach for resolving more complex structure with variable DoF is illustrated here and their brief applicability to support surgeries and adaptive use of artificial linkage moments is also calculated.

show abstract

Efficient computation of multiple coupled Cosserat rod models for real-time simulation and control of parallel continuum manipulators

Cited by 77 publications

References 24 publications

Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment

Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment

Modeling, Calibration, and Evaluation of a Tendon-Actuated Planar Parallel Continuum Robot

Joint Space Redundancy Resolution of Serial Link Manipulator: An Inverse Kinematics and Continuum Structure Numerical Approach

Contact Info

Product

Resources

About