Configuration tracking for soft continuum robotic arms using inverse dynamic control of a cosserat rod model

Azadeh Doroudchi, Spring Berman

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Controlling the configuration of a soft continuum robot arm is challenging due to the hyper-redundant kinematics of such robots. We propose a new model-based, inverse dynamic control approach to this problem that is defined on the configuration state variables of the geometrically exact Cosserat rod model. Our approach is capable of controlling a soft continuum robot to track static or time-varying 3D configurations through bending, torsion, shear, and extension deformations. The controller has a decentralized structure, in which the gain matrices can be defined in terms of the physical and material properties of distinct cross-sections of the robot arm. This structure facilitates its implementation on continuum robot arms composed of independently-controllable segments that have local sensing and actuation. The controller is validated with numerical simulations in MATLAB with a hydrogel-based soft robot arm that can produce the four primary types of deformations. The simulated arm successfully tracks these configurations with average normalized root-mean-square errors (NRMSE) below 7% in all cases. To demonstrate the generality of the control approach, its performance is also validated on a larger simulated robot arm made of silicone.

Original languageEnglish (US)
Title of host publication2021 IEEE 4th International Conference on Soft Robotics, RoboSoft 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages207-214
Number of pages8
ISBN (Electronic)9781728177137
DOIs
StatePublished - Apr 12 2021
Event4th IEEE International Conference on Soft Robotics, RoboSoft 2021 - New Haven, United States
Duration: Apr 12 2021Apr 16 2021

Publication series

Name2021 IEEE 4th International Conference on Soft Robotics, RoboSoft 2021

Conference

Conference4th IEEE International Conference on Soft Robotics, RoboSoft 2021
Country/TerritoryUnited States
CityNew Haven
Period4/12/214/16/21

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization
  • Modeling and Simulation

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