Dynamic Modeling of a Hydrogel-based Continuum Robotic Arm with Experimental Validation

Azadeh Doroudchi, Roozbeh Khodambashiy, Amir Salimi Lafmejaniy, Daniel M. Aukes, Spring Berman

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

Abstract

Control of robots with soft actuators is still challenging due to the complexity of modeling actuator material dynamics in conjunction with the robot dynamics. In this paper, we introduce a 45-mm-long soft continuum robot with distributed local actuators in the form of cubes composed of a novel temperature-responsive hydrogel, each with an embedded Joule heater. We refer to these as soft voxel actuators (SVAs). We present a dynamical model of this hydrogel-based continuum robot based on Cosserat rod theory. We experimentally identify the relationship between step input voltages applied to the SVAs and their resulting force outputs. In addition, we identify other unknown parameters of the model using vibration tests with the robot. We then numerically solve the Cosserat model and compare simulations of the model to measurements of the robot's tip displacement over time during open-loop control trials in which subsets of the SVAs are actuated. The normalized root-mean-square errors (NRMSEs) between the simulated and experimentally measured displacements are below 10%, which demonstrates the accuracy of the Cosserat model in describing the dynamics of the hydrogel-based continuum robot.

Original languageEnglish (US)
Title of host publication2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages695-701
Number of pages7
ISBN (Electronic)9781728165707
DOIs
StatePublished - May 2020
Event3rd IEEE International Conference on Soft Robotics, RoboSoft 2020 - New Haven, United States
Duration: May 15 2020Jul 15 2020

Publication series

Name2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020

Conference

Conference3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
CountryUnited States
CityNew Haven
Period5/15/207/15/20

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

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