Energy Shaping Control of a CyberOctopus Soft Arm

Chang, Heng-Sheng; Halder, Udit; Shih, Chia-Hsien; Tekinalp, Arman; Parthasarathy, Tejaswin; Gribkova, Ekaterina; Chowdhary, Girish; Gillette, Rhanor; Gazzola, Mattia; Mehta, Prashant G.

doi:10.1109/cdc42340.2020.9304408

Cited by 24 publications

(27 citation statements)

References 28 publications

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“…3D elastic model of snake locomotion. 3D elastic simulations of snake locomotion were performed in Elastica [18,37,40] using a Cosserat rod snake model with muscular activation, an approach demonstrated in numerous biophysical applications [18,37,[41][42][43][44][45]. For the Cosserat rod model, we mathematically describe a slender rod by a centerline x(s, t) ∈ R 3 and a rotation matrix Q(s, t) = { d1 , d2 , d3 } −1 .…”

Section: Methodsmentioning

confidence: 99%

Friction modulation in limbless, three-dimensional gaits and heterogeneous terrains

Zhang,

Naughton,

Parthasarathy

et al. 2021

Preprint

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Section: Methodsmentioning

confidence: 99%

Friction modulation in limbless, three-dimensional gaits and heterogeneous terrains

Zhang,

Naughton,

Parthasarathy

et al. 2021

Preprint

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“…Theorem 1: Consider the PDE system (9). Let (f c , l c ) be designed as (11) where (f * , l * ) are given by ( 16)- (17). If the initial conditions satisfy…”

Section: Control Design Of Soft Robotic Armsmentioning

confidence: 99%

“…As a result, most existing control design based on Cosserat PDEs has relied on linearized [11] or discretized models [12]- [16]. A notable exception is the energy shaping control presented in [17].…”

Section: Introductionmentioning

confidence: 99%

PDE-based Dynamic Control and Estimation of Soft Robotic Arms

Zheng¹,

Lin²

2022

Preprint

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Compared with traditional rigid-body robots, soft robots not only exhibit unprecedented adaptation and flexibility, but also present novel challenges in their modelling and control because of their infinite degrees of freedom. Most of the existing approaches have mainly relied on approximated models so that the well-developed finite-dimensional control theory can be exploited. However, this Approximate-then-Design approach may bring in modelling uncertainty and performance degradation. Hence, we adopt the opposite approach and exploit infinitedimensional analysis for soft robotic systems. Our control design is based on the increasingly adopted Cosserat rod model, which describes the kinematics and dynamics of soft robotic arms with a set of nonlinear partial differential equations (PDE). We design infinite-dimensional state feedback control laws for the Cosserat PDE model to achieve trajectory tracking in the task space (consisting of position, rotation, linear and angular velocities), and prove their uniform tracking convergence. To estimate the feedback states, we design an infinite-dimensional extended Kalman filter on Lie groups for the PDE system to estimate all the state variables (including position, rotation, strains, curvature, linear and angular velocities) using only position measurements. The proposed algorithms are evaluated using simulations.

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“…resultant wrench that is composed of the constraint wrench F c , the input wrench F u , and the potential wrenches due to gravity and visco-elasticity, F g and F e , respectively. Further evaluation of (13) leads to (11) [𝜂] k (𝜎, q, q) = Ad −1 [g]…”

Section: Finite-dimensional Dynamicsmentioning

confidence: 99%

Energy-Shaping Controllers for Soft Robot Manipulators Through Port-Hamiltonian Cosserat Models

2022

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In this work, we discuss the application of energy-based controller design for under-actuated soft robot manipulators. The continuous dynamics of the soft robot are modeled through the differential geometry of Cosserat beams. Using a finite-dimensional truncation, the system can be written as a reduced port-Hamiltonian model that preserves the passivity condition. Then, a model-based controller is introduced that produces a local minimizer of closed-loop potential energy for the desired end-effector configuration. The stabilizing control utilizes an energy-based approach and exploits the passivity of the soft robotic system. The effectiveness of the energy-based controller is demonstrated through extensive simulations of various soft robotic systems that share a resemblance with biology. All software and numerical studies are provided in an open-access SOROTOKI toolkit written in Matlab.

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Energy Shaping Control of a CyberOctopus Soft Arm

Cited by 24 publications

References 28 publications

Friction modulation in limbless, three-dimensional gaits and heterogeneous terrains

Friction modulation in limbless, three-dimensional gaits and heterogeneous terrains

PDE-based Dynamic Control and Estimation of Soft Robotic Arms

Energy-Shaping Controllers for Soft Robot Manipulators Through Port-Hamiltonian Cosserat Models

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