Control of Elastic Soft Robots based on Real-Time Finite Element Method

Christian Duriez 1
1 SHACRA - Simulation in Healthcare using Computer Research Advances
LIFL - Laboratoire d'Informatique Fondamentale de Lille, Inria Lille - Nord Europe, Inria Nancy - Grand Est
Abstract : In this paper, we present a new method for the control of soft robots with elastic behavior, piloted by several actuators. The central contribution of this work is the use of the Finite Element Method (FEM), computed in real-time, in the control algorithm. The FEM based simulation computes the nonlinear deformations of the robots at interactive rates. The model is completed by Lagrange multipliers at the actuation zones and at the end-effector position. A reduced compliance matrix is built in order to deal with the necessary inversion of the model. Then, an iterative algorithm uses this compliance matrix to find the contribution of the actuators (force and/or position) that will deform the structure so that the terminal end of the robot follows a given position. Additional constraints, like rigid or deformable obstacles, or the internal characteristics of the actuators are integrated in the control algorithm. We illustrate our method using simulated examples of both serial and parallel structures and we validate it on a real 3D soft robot made of silicone
Type de document :
Communication dans un congrès
ICRA 2013 IEEE International Conference on Robotics and Automation, 2013, Karlsruhe, France. 2013
Liste complète des métadonnées

Littérature citée [14 références]  Voir  Masquer  Télécharger


https://hal.archives-ouvertes.fr/hal-00823766
Contributeur : Christian Duriez <>
Soumis le : jeudi 1 octobre 2015 - 01:42:18
Dernière modification le : jeudi 21 février 2019 - 10:52:54
Document(s) archivé(s) le : samedi 2 janvier 2016 - 10:25:39

Fichiers

Licence


Distributed under a Creative Commons Paternité 4.0 International License

Identifiants

  • HAL Id : hal-00823766, version 1

Collections

Citation

Christian Duriez. Control of Elastic Soft Robots based on Real-Time Finite Element Method. ICRA 2013 IEEE International Conference on Robotics and Automation, 2013, Karlsruhe, France. 2013. 〈hal-00823766〉

Partager

Métriques

Consultations de la notice

1435

Téléchargements de fichiers

4057