Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Seiten | 624-631 |
| Seitenumfang | 8 |
| ISBN (elektronisch) | 978-1-6654-1714-3 |
| Publikationsstatus | Veröffentlicht - 2021 |
Publikationsreihe
| Name | IEEE/RSJ/GI International Conference on Intelligent Robots and Systems |
|---|---|
| ISSN (Print) | 2153-0858 |
| ISSN (elektronisch) | 2153-0866 |
Abstract
Soft material robotics is a rather young research field in the robotics and material science communities. A popular design is the soft pneumatic actuator (SPA) which, if connected serially, becomes a highly compliant manipulator. This high compliance makes it possible to adapt to the environment and in the future might be very useful for manipulation tasks in narrow and wound environments. A central topic is the modelling of the manipulators. While comparatively rigid continuum robots are build of metal or other materials, that conduct a linear behaviour, the material used in soft material robotics often exhibits a nonlinear stress-strain relationship. In this paper we contribute an identification method for material parameters and data-based approach within the constitutive equations of a Cosserat rod model. We target bending and extension stiffness, consider shear and neglect torsional strains. The proposed method is applicable to any continuum robot which can be modelled by the classic theory of special Cosserat rods, including constraint models, and shows great improvement in experimental results with mean position errors of 0.59% reference length.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Informatik (insg.)
- Software
- Informatik (insg.)
- Maschinelles Sehen und Mustererkennung
- Informatik (insg.)
- Angewandte Informatik
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2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2021. S. 624-631 (IEEE/RSJ/GI International Conference on Intelligent Robots and Systems).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - A Parameter Identification Method for Static Cosserat Rod Models: Application to Soft Material Actuators with Exteroceptive Sensors
AU - Bartholdt, Max Niklas
AU - Wiese, Mats
AU - Schappler, Moritz
AU - Spindeldreier, Svenja
AU - Raatz, Annika
N1 - Funding Information: *Both authors contributed equally to this publication. 1,2All authors are with the Leibniz University Hannover, Germany. 1Authors are with the Institute of Assembly Technology wiese@match.uni-hannover.de 2Authors are with the Institute of Mechatronic Systems max.bartholdt@imes.uni-hannover.de Funded by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under grant no. 405032969.
PY - 2021
Y1 - 2021
N2 - Soft material robotics is a rather young research field in the robotics and material science communities. A popular design is the soft pneumatic actuator (SPA) which, if connected serially, becomes a highly compliant manipulator. This high compliance makes it possible to adapt to the environment and in the future might be very useful for manipulation tasks in narrow and wound environments. A central topic is the modelling of the manipulators. While comparatively rigid continuum robots are build of metal or other materials, that conduct a linear behaviour, the material used in soft material robotics often exhibits a nonlinear stress-strain relationship. In this paper we contribute an identification method for material parameters and data-based approach within the constitutive equations of a Cosserat rod model. We target bending and extension stiffness, consider shear and neglect torsional strains. The proposed method is applicable to any continuum robot which can be modelled by the classic theory of special Cosserat rods, including constraint models, and shows great improvement in experimental results with mean position errors of 0.59% reference length.
AB - Soft material robotics is a rather young research field in the robotics and material science communities. A popular design is the soft pneumatic actuator (SPA) which, if connected serially, becomes a highly compliant manipulator. This high compliance makes it possible to adapt to the environment and in the future might be very useful for manipulation tasks in narrow and wound environments. A central topic is the modelling of the manipulators. While comparatively rigid continuum robots are build of metal or other materials, that conduct a linear behaviour, the material used in soft material robotics often exhibits a nonlinear stress-strain relationship. In this paper we contribute an identification method for material parameters and data-based approach within the constitutive equations of a Cosserat rod model. We target bending and extension stiffness, consider shear and neglect torsional strains. The proposed method is applicable to any continuum robot which can be modelled by the classic theory of special Cosserat rods, including constraint models, and shows great improvement in experimental results with mean position errors of 0.59% reference length.
UR - http://www.scopus.com/inward/record.url?scp=85124110008&partnerID=8YFLogxK
U2 - 10.1109/IROS51168.2021.9636447
DO - 10.1109/IROS51168.2021.9636447
M3 - Conference contribution
SN - 978-1-6654-1715-0
T3 - IEEE/RSJ/GI International Conference on Intelligent Robots and Systems
SP - 624
EP - 631
BT - 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ER -