Dynamic Model of a Multibending Soft Robot Arm Driven by Cables

By Federico Renda, M. Giorelli, M. Calisti, Matteo Cianchetti, Cecilia Laschi. IEEE Transactions on robotics, 2014

437 citations recorded by the source corpus.

The new and promising field of soft robotics has many open areas of research such as the development of an exhaustive theoretical and methodological approach to dynamic modeling. To help contribute to this area of research, this paper develops a dynamic model of a continuum soft robot arm driven by cables and based upon a rigorous geometrically exact approach. The model fully investigates both dynamic interaction with a dense medium and the coupled tendon condition. The model was experimentally validated with satisfactory results, using a soft robot arm working prototype inspired by the octopus arm and capable of multibending. Experimental validation was performed for the octopus most characteristic movements: bending, reaching, and fetching. The present model can be used in the design phase as a dynamic simulation platform and to design the control strategy of a continuum robot arm moving in a dense medium.

Subfields: Biomedical Engineering, Condensed Matter Physics, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/d4c3e12aed3146f1c4a4ac8d57b1e584393372e4

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In Biomedical Engineering

In Condensed Matter Physics

In Control and Systems Engineering

Citations in the corpus

Soft robotics: Technologies and systems pushing the boundaries of robot abilities (2016, background): “Methods and techniques for modeling soft robots (95) for simulation and control (96) are becoming available, and they represent an enabling body of knowledge and techniques for further progress of soft robotics.”
Real-time dynamics of soft and continuum robots based on Cosserat rod models (2019, background): “In this vein, Lang et al. (2011), Rucker and Webster III (2011), and Renda et al. (2014) used various numerical methods for solving the partial differential equations (PDEs) of a Cosserat rod, and Renda et al. (2016) has recently proposed a piecewise-constant strain representation that generalizes…”
Model-Based Reinforcement Learning for Closed-Loop Dynamic Control of Soft Robotic Manipulators (2019, background): “trinsic parameterization of the continuous Cosserat model [23] by discretizing it under the assumption of piecewise constant deformation along the robot arm [24], [25].”
Control Strategies for Soft Robotic Manipulators: A Survey (2018, neutral): “On the contrary, even if exact kinematic and dynamic models are available, an appropriate controller would then require high-dimensional sensory feedback.(56) Moreover, some dynamic properties/disturbances are inherently uncontrollable due to their underactuated nature.”
Model-Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges (2021, methodology): “Leveraging these frameworks, the statics and dynamics of tendon actuated continuum and soft robots are derived and experimentally validated in [21], [22] and [23] respectively.”