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Optimization-based inverse model of soft robots, with contact handling

Eulalie Coevoet 1
1 DEFROST - Deformable Robots Simulation Team
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Résumé : Soft robotics draws its inspiration from nature, from the way living organisms move and adapt their shape to their environment. In opposition to traditional rigid robots, soft robots are built from highly compliant materials, allowing them to accomplish tasks with more flexibility and adaptability. They are safer when working in fragile environment. They have the advantages of pro- ducing low forces that are suitable for manipulating/interacting with sensitive objects/surroundings without harming them. These characteristics allow for potential use of soft robotics in the fields of manufacturing and medicine. But the field of soft robotics brings new challenges, in particular for modeling and control. Within this thesis we aim at providing generic methods for soft robot modeling, without assumptions on the geometry. The methods are based on the finite element method to capture the deformations of the robot’s structure and of its environment when deformable. We formulate the problem of their inverse kinematics and dynamics as optimization programs, allowing easy handling of constraints on actuation and singularity problems. We are able to control several types of actuation, such as cable, pneumatic and hydraulic actuations. Moreover, most of the applications involve interaction of the robot with obsta- cles. Yet soft robots kinematics is highly dependent on environmental factors. We propose new methods that include contacts into the optimization process. These methods make an important step as we think that the knowledge of con- tacts in the modeling is all the more important. Finally, we propose to control some soft robots during locomotion and grasping tasks which require the use of contact with static friction. We give a particular attention to provide solutions with real-time performance, allowing online control in evolving environments.
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  • HAL Id : tel-02446416, version 1

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Eulalie Coevoet. Optimization-based inverse model of soft robots, with contact handling. Automatic. Université de Lille 1, Sciences et Technologies, 2019. English. ⟨tel-02446416⟩

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