Reduced-order modeling of soft robots

Chenevier, J. ; Gonzalez, D. (Universidad de Zaragoza) ; Aguado, J.V. ; Chinesta, F. ; Cueto, E. (Universidad de Zaragoza)

Resumen: We present a general strategy for the modeling and simulation-based control of soft robots. Although the presented methodology is completely general, we restrict ourselves to the analysis of a model robot made of hyperelastic materials and actuated by cables or tendons. To comply with the stringent real-time constraints imposed by control algorithms, a reduced-order modeling strategy is proposed that allows to minimize the amount of online CPU cost. Instead, an offline training procedure is proposed that allows to determine a sort of response surface that characterizes the response of the robot. Contrarily to existing strategies, the proposed methodology allows for a fully non-linear modeling of the soft material in a hyperelastic setting as well as a fully non-linear kinematic description of the movement without any restriction nor simplifying assumption. Examples of different configurations of the robot were analyzed that show the appeal of the method.

Idioma: Inglés

DOI: 10.1371/journal.pone.0192052

Año: 2018

Publicado en: PloS one 13, 2 (2018), e0192052[15 pp]
ISSN: 1932-6203

Factor impacto JCR: 2.776 (2018)

Categ. JCR: MULTIDISCIPLINARY SCIENCES rank: 23 / 69 = 0.333 (2018) - Q2 - T2

Factor impacto SCIMAGO: 1.1 - Agricultural and Biological Sciences (miscellaneous) (Q1) - Medicine (miscellaneous) (Q1) - Biochemistry, Genetics and Molecular Biology (miscellaneous) (Q1)

Financiación: info:eu-repo/grantAgreement/ES/CICYT/DPI2014-51844-C2-1-R
Financiación: info:eu-repo/grantAgreement/ES/MINECO/DPI2015-72365-EXP

Tipo y forma: Artículo (Versión definitiva)

Área (Departamento): Área Mec.Med.Cont. y Teor.Est. (Dpto. Ingeniería Mecánica)