Dynamics of Continuum and Soft Robots: A Strain Parameterization Based Approach

Frederic Boyer; Vincent Lebastard; Fabien CandelierFederico Renda

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Dynamics of Continuum and Soft Robots: A Strain Parameterization Based Approach

机译：Dynamics of Continuum and Soft Robots: A Strain Parameterization Based Approach

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In this article, we propose a new dynamic model of Cosserat beams in view of its application to continuum and soft robotics manipulation and locomotion. In contrast to usual approaches, it is based on the nonlinear parameterization of the beam shape by its strain fields and their reduction on a functional basis of strain modes. While remaining geometrically exact, the approach provides us with a minimal set of ordinary differential equations in the usual Lagrange matrix form that can be exploited for analysis and control design. Inspired from rigid robotics, the calculation of the matrices of this Lagrangian model is performed with a new reduced inverse Newton–Euler algorithm. To assess the approach, this Lagrangian model is compared against a well-validated finite element method through several benches of nonlinear structural statics and dynamics.

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《IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society》 |2021年第3期|847-863|共17页
作者
Frederic Boyer; Vincent Lebastard; Fabien CandelierFederico Renda;
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作者单位

LS2N Laboratory, Institut Mines Telecom Atlantique, Nantes, France;

Aix-Marseille University, CNRS, IUSTI, Marseille, France;

Khalifa University Center for Autonomous Robotics Institute and the Healthcare Engineering Innovation Center, Khalifa University of Science and Technology, Abu Dhabi, United Arab Emirates;

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正文语种英语
中图分类机器人技术;
关键词
Strain; Robots; Manipulator dynamics; Heuristic algorithms; Numerical models; Kinematics; Soft robotics;

Dynamics of Continuum and Soft Robots: A Strain Parameterization Based Approach

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