Geometrically exact dynamic models for soft robotic manipulators

Deepak Trivedi, Amir Lotfi, Christopher D. Rahn

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

40 Citations (Scopus)

Abstract

Unlike traditional rigid-linked robots, soft robotic manipulators can bend into a wide variety of complex shapes due to control inputs and gravitational loading. This paper presents a new approach for modeling the dynamics of soft robotic manipulators that incorporates the effect of material nonlinearities and distributed and payload weight and is geometrically exact for the large curvature, shear, torsion and extension that often occur in these manipulators. The model is based on the general Cosserat theory of rods and a fiber reinforced model of air muscle actuators. The model is validated experimentally on the OctArm V manipulator, showing less that 5% average error for a wide range of actuation pressures and base orientations as compared to almost 50% average error for the constant curvature model previously used by researchers.

Original languageEnglish (US)
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages1497-1502
Number of pages6
DOIs
StatePublished - Dec 1 2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: Oct 29 2007Nov 2 2007

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period10/29/0711/2/07

Fingerprint

Manipulators
Dynamic models
Robotics
Control nonlinearities
Torsional stress
Muscle
Actuators
Robots
Fibers
Air

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Trivedi, D., Lotfi, A., & Rahn, C. D. (2007). Geometrically exact dynamic models for soft robotic manipulators. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 1497-1502). [4399446] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399446
Trivedi, Deepak ; Lotfi, Amir ; Rahn, Christopher D. / Geometrically exact dynamic models for soft robotic manipulators. Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. pp. 1497-1502 (IEEE International Conference on Intelligent Robots and Systems).
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Trivedi, D, Lotfi, A & Rahn, CD 2007, Geometrically exact dynamic models for soft robotic manipulators. in Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007., 4399446, IEEE International Conference on Intelligent Robots and Systems, pp. 1497-1502, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, United States, 10/29/07. https://doi.org/10.1109/IROS.2007.4399446

Geometrically exact dynamic models for soft robotic manipulators. / Trivedi, Deepak; Lotfi, Amir; Rahn, Christopher D.

Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 1497-1502 4399446 (IEEE International Conference on Intelligent Robots and Systems).

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

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Trivedi D, Lotfi A, Rahn CD. Geometrically exact dynamic models for soft robotic manipulators. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 1497-1502. 4399446. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399446