Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 |
| Herausgeber (Verlag) | Institute of Electrical and Electronics Engineers Inc. |
| Seiten | 14939-14945 |
| Seitenumfang | 7 |
| ISBN (elektronisch) | 9798350384574 |
| ISBN (Print) | 979-8-3503-8458-1 |
| Publikationsstatus | Veröffentlicht - 13 Mai 2024 |
| Veranstaltung | 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 - Yokohama, Japan Dauer: 13 Mai 2024 → 17 Mai 2024 |
Publikationsreihe
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| ISSN (Print) | 1050-4729 |
Abstract
Using compliant materials leads to continuum robots undergoing large deformations. Their nonlinear behavior motivates the use of model-based controllers. They require state estimation as an essential step to be deployed. Available sensors are usually realized by introducing rigid bodies to the soft robot or inserting soft sensors made of materials different from the robot itself. Both approaches result in changes in the system's dynamics. Optical measurements are problematic, especially in confined spaces. This can be avoided when the sensor is located at the robot's base. This paper studies the state estimation of a pneumatically actuated soft robot using the measured forces and torques at its base. For the first time, this is done using an unscented Kalman filter without restraining the dynamics to a planar or quasi-static motion while applying it to a real system. Real-time capability is achieved with our implementation. The state estimation is tested in a Cosserat rod simulation and on the physical system. The position is estimated with an accuracy of three to five millimeters for a 130 millimeter long pneumatic robot.
ASJC Scopus Sachgebiete
- Informatik (insg.)
- Software
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
- Informatik (insg.)
- Artificial intelligence
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- BibTex
- RIS
2024 IEEE International Conference on Robotics and Automation, ICRA 2024. Institute of Electrical and Electronics Engineers Inc., 2024. S. 14939-14945 (Proceedings - IEEE International Conference on Robotics and Automation).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - Adaptive State Estimation with Constant-Curvature Dynamics Using Force-Torque Sensors with Application to a Soft Pneumatic Actuator
AU - Mehl, Maximilian
AU - Bartholdt, Max
AU - Ehlers, Simon F.G.
AU - Seel, Thomas
AU - Schappler, Moritz
N1 - Publisher Copyright: © 2024 IEEE.
PY - 2024/5/13
Y1 - 2024/5/13
N2 - Using compliant materials leads to continuum robots undergoing large deformations. Their nonlinear behavior motivates the use of model-based controllers. They require state estimation as an essential step to be deployed. Available sensors are usually realized by introducing rigid bodies to the soft robot or inserting soft sensors made of materials different from the robot itself. Both approaches result in changes in the system's dynamics. Optical measurements are problematic, especially in confined spaces. This can be avoided when the sensor is located at the robot's base. This paper studies the state estimation of a pneumatically actuated soft robot using the measured forces and torques at its base. For the first time, this is done using an unscented Kalman filter without restraining the dynamics to a planar or quasi-static motion while applying it to a real system. Real-time capability is achieved with our implementation. The state estimation is tested in a Cosserat rod simulation and on the physical system. The position is estimated with an accuracy of three to five millimeters for a 130 millimeter long pneumatic robot.
AB - Using compliant materials leads to continuum robots undergoing large deformations. Their nonlinear behavior motivates the use of model-based controllers. They require state estimation as an essential step to be deployed. Available sensors are usually realized by introducing rigid bodies to the soft robot or inserting soft sensors made of materials different from the robot itself. Both approaches result in changes in the system's dynamics. Optical measurements are problematic, especially in confined spaces. This can be avoided when the sensor is located at the robot's base. This paper studies the state estimation of a pneumatically actuated soft robot using the measured forces and torques at its base. For the first time, this is done using an unscented Kalman filter without restraining the dynamics to a planar or quasi-static motion while applying it to a real system. Real-time capability is achieved with our implementation. The state estimation is tested in a Cosserat rod simulation and on the physical system. The position is estimated with an accuracy of three to five millimeters for a 130 millimeter long pneumatic robot.
UR - http://www.scopus.com/inward/record.url?scp=85202438068&partnerID=8YFLogxK
U2 - 10.1109/ICRA57147.2024.10610370
DO - 10.1109/ICRA57147.2024.10610370
M3 - Conference contribution
AN - SCOPUS:85202438068
SN - 979-8-3503-8458-1
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 14939
EP - 14945
BT - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Y2 - 13 May 2024 through 17 May 2024
ER -