Details
| Original language | English |
|---|---|
| Title of host publication | 2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) |
| Pages | 7-13 |
| Number of pages | 7 |
| ISBN (electronic) | 978-1-6654-1073-1 |
| Publication status | Published - 2021 |
| Event | 2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) - Belval, Luxembourg Duration: 11 Nov 2021 → 14 Nov 2021 |
Abstract
Soft material robotic systems are a rather new but a promising field of research. Compared to their rigid counterparts, soft material robots show great advantages when operating in unknown environments or handling objects with unknown geometry or irregular topology. To make use of the advantages of soft material robotic systems, it essential to find a proper methodology for modelling and analyze these regarding control strategies and model-based control. Unlike rigid robots, soft material robotic systems can show highly nonlinear material behavior and undergo large deformation. Capturing nonlinearities in a time efficient model is a challenge that will be addressed in this paper in a preliminary comparison of two modelling approaches as well as in a first naïve approximation attempt of nonlinear force-displacement relationship. In the following we will show how to finite element modelling may be utilized for the identification of parameter used in a Cosserat rod model using the example of a soft pneumatic actuator (SPA).
Keywords
- Identification, Modelling, Soft material robotic systems, Verification
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Engineering(all)
- Biomedical Engineering
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Electrical and Electronic Engineering
- Engineering(all)
- Mechanical Engineering
- Mathematics(all)
- Control and Optimization
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2021 9th International Conference on Control, Mechatronics and Automation (ICCMA). 2021. p. 7-13.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - A Preliminary Study of Soft Material Robotic Modelling: Finite Element Method and Cosserat Rod Model
AU - Berthold, Rebecca
AU - Bartholdt, Max Niklas
AU - Wiese, Mats
AU - Kahms, Stephanie
AU - Spindeldreier, Svenja
AU - Raatz, Annika
N1 - Funding Information: ACKNOWLEDGMENT Funded by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) – 405032969. “as part of the priority program 2100 Soft Material Robotic Systems
PY - 2021
Y1 - 2021
N2 - Soft material robotic systems are a rather new but a promising field of research. Compared to their rigid counterparts, soft material robots show great advantages when operating in unknown environments or handling objects with unknown geometry or irregular topology. To make use of the advantages of soft material robotic systems, it essential to find a proper methodology for modelling and analyze these regarding control strategies and model-based control. Unlike rigid robots, soft material robotic systems can show highly nonlinear material behavior and undergo large deformation. Capturing nonlinearities in a time efficient model is a challenge that will be addressed in this paper in a preliminary comparison of two modelling approaches as well as in a first naïve approximation attempt of nonlinear force-displacement relationship. In the following we will show how to finite element modelling may be utilized for the identification of parameter used in a Cosserat rod model using the example of a soft pneumatic actuator (SPA).
AB - Soft material robotic systems are a rather new but a promising field of research. Compared to their rigid counterparts, soft material robots show great advantages when operating in unknown environments or handling objects with unknown geometry or irregular topology. To make use of the advantages of soft material robotic systems, it essential to find a proper methodology for modelling and analyze these regarding control strategies and model-based control. Unlike rigid robots, soft material robotic systems can show highly nonlinear material behavior and undergo large deformation. Capturing nonlinearities in a time efficient model is a challenge that will be addressed in this paper in a preliminary comparison of two modelling approaches as well as in a first naïve approximation attempt of nonlinear force-displacement relationship. In the following we will show how to finite element modelling may be utilized for the identification of parameter used in a Cosserat rod model using the example of a soft pneumatic actuator (SPA).
KW - Identification
KW - Modelling
KW - Soft material robotic systems
KW - Verification
UR - http://www.scopus.com/inward/record.url?scp=85124199818&partnerID=8YFLogxK
U2 - 10.1109/iccma54375.2021.9646194
DO - 10.1109/iccma54375.2021.9646194
M3 - Conference contribution
SN - 978-1-6654-1072-4
SN - 978-1-6654-1074-8
SP - 7
EP - 13
BT - 2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)
T2 - 2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)
Y2 - 11 November 2021 through 14 November 2021
ER -