Cargando…

First-Order Dynamic Modeling and Control of Soft Robots

Modeling of soft robots is typically performed at the static level or at a second-order fully dynamic level. Controllers developed upon these models have several advantages and disadvantages. Static controllers, based on the kinematic relations tend to be the easiest to develop, but by sacrificing a...

Descripción completa

Detalles Bibliográficos
Autores principales: George Thuruthel, Thomas, Renda, Federico, Iida, Fumiya
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7806042/
https://www.ncbi.nlm.nih.gov/pubmed/33501262
http://dx.doi.org/10.3389/frobt.2020.00095
_version_ 1783636441839960064
author George Thuruthel, Thomas
Renda, Federico
Iida, Fumiya
author_facet George Thuruthel, Thomas
Renda, Federico
Iida, Fumiya
author_sort George Thuruthel, Thomas
collection PubMed
description Modeling of soft robots is typically performed at the static level or at a second-order fully dynamic level. Controllers developed upon these models have several advantages and disadvantages. Static controllers, based on the kinematic relations tend to be the easiest to develop, but by sacrificing accuracy, efficiency and the natural dynamics. Controllers developed using second-order dynamic models tend to be computationally expensive, but allow optimal control. Here we propose that the dynamic model of a soft robot can be reduced to first-order dynamical equation owing to their high damping and low inertial properties, as typically observed in nature, with minimal loss in accuracy. This paper investigates the validity of this assumption and the advantages it provides to the modeling and control of soft robots. Our results demonstrate that this model approximation is a powerful tool for developing closed-loop task-space dynamic controllers for soft robots by simplifying the planning and sensory feedback process with minimal effects on the controller accuracy.
format Online
Article
Text
id pubmed-7806042
institution National Center for Biotechnology Information
language English
publishDate 2020
publisher Frontiers Media S.A.
record_format MEDLINE/PubMed
spelling pubmed-78060422021-01-25 First-Order Dynamic Modeling and Control of Soft Robots George Thuruthel, Thomas Renda, Federico Iida, Fumiya Front Robot AI Robotics and AI Modeling of soft robots is typically performed at the static level or at a second-order fully dynamic level. Controllers developed upon these models have several advantages and disadvantages. Static controllers, based on the kinematic relations tend to be the easiest to develop, but by sacrificing accuracy, efficiency and the natural dynamics. Controllers developed using second-order dynamic models tend to be computationally expensive, but allow optimal control. Here we propose that the dynamic model of a soft robot can be reduced to first-order dynamical equation owing to their high damping and low inertial properties, as typically observed in nature, with minimal loss in accuracy. This paper investigates the validity of this assumption and the advantages it provides to the modeling and control of soft robots. Our results demonstrate that this model approximation is a powerful tool for developing closed-loop task-space dynamic controllers for soft robots by simplifying the planning and sensory feedback process with minimal effects on the controller accuracy. Frontiers Media S.A. 2020-07-21 /pmc/articles/PMC7806042/ /pubmed/33501262 http://dx.doi.org/10.3389/frobt.2020.00095 Text en Copyright © 2020 George Thuruthel, Renda and Iida. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
George Thuruthel, Thomas
Renda, Federico
Iida, Fumiya
First-Order Dynamic Modeling and Control of Soft Robots
title First-Order Dynamic Modeling and Control of Soft Robots
title_full First-Order Dynamic Modeling and Control of Soft Robots
title_fullStr First-Order Dynamic Modeling and Control of Soft Robots
title_full_unstemmed First-Order Dynamic Modeling and Control of Soft Robots
title_short First-Order Dynamic Modeling and Control of Soft Robots
title_sort first-order dynamic modeling and control of soft robots
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7806042/
https://www.ncbi.nlm.nih.gov/pubmed/33501262
http://dx.doi.org/10.3389/frobt.2020.00095
work_keys_str_mv AT georgethuruthelthomas firstorderdynamicmodelingandcontrolofsoftrobots
AT rendafederico firstorderdynamicmodelingandcontrolofsoftrobots
AT iidafumiya firstorderdynamicmodelingandcontrolofsoftrobots