Details
| Original language | English |
|---|---|
| Title of host publication | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 9371-9378 |
| Number of pages | 8 |
| ISBN (electronic) | 9781665479271 |
| ISBN (print) | 978-1-6654-7928-8 |
| Publication status | Published - 2022 |
| Event | 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 - Kyoto, Japan Duration: 23 Oct 2022 → 27 Oct 2022 |
Abstract
Compared to their rigid counterparts, soft material robotic systems offer great advantages when it comes to flexibility and adaptability. Despite their advantages, modeling of soft systems is still a challenging task, due to the continuous and often highly nonlinear nature of deformation these systems exhibit. Tasks like motion planning or design optimization of soft robots require computationally cheap models of the system's behavior. In this paper we address this need by deriving operational point dependent Cosserat rod models from detailed volume finite element models (FEM). While the latter offer detailed simulations, they generally come with high computational burden that hinders them from being used in time critical model-based methods like motion planning or control. Basic Cosserat rod models promise to provide computationally efficient mechanical models of soft continuum robots. By using a detailed FE model in an offline stage to identify operational point dependent Cosserat rod models, we bring together the accuracy of volumetric FEM with the efficiency of Cosserat rod models. We apply the approach to a fiber reinforced soft pneumatic bending actuator module (SPA module) and evaluate the model's predictive capabilities for a single module as well as a two-module robot.
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Software
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Computer Science Applications
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IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 9371-9378.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Towards accurate modeling of modular soft pneumatic robots
T2 - 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
AU - Wiese, Mats
AU - Cao, Benjamin-Hieu
AU - Raatz, Annika
N1 - Funding Information: Funded by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under grant no. 405032969. All authors are with the Institute of Assembly Technology Leibniz University Hannover, Germany wiese@match.uni-hannover.de.
PY - 2022
Y1 - 2022
N2 - Compared to their rigid counterparts, soft material robotic systems offer great advantages when it comes to flexibility and adaptability. Despite their advantages, modeling of soft systems is still a challenging task, due to the continuous and often highly nonlinear nature of deformation these systems exhibit. Tasks like motion planning or design optimization of soft robots require computationally cheap models of the system's behavior. In this paper we address this need by deriving operational point dependent Cosserat rod models from detailed volume finite element models (FEM). While the latter offer detailed simulations, they generally come with high computational burden that hinders them from being used in time critical model-based methods like motion planning or control. Basic Cosserat rod models promise to provide computationally efficient mechanical models of soft continuum robots. By using a detailed FE model in an offline stage to identify operational point dependent Cosserat rod models, we bring together the accuracy of volumetric FEM with the efficiency of Cosserat rod models. We apply the approach to a fiber reinforced soft pneumatic bending actuator module (SPA module) and evaluate the model's predictive capabilities for a single module as well as a two-module robot.
AB - Compared to their rigid counterparts, soft material robotic systems offer great advantages when it comes to flexibility and adaptability. Despite their advantages, modeling of soft systems is still a challenging task, due to the continuous and often highly nonlinear nature of deformation these systems exhibit. Tasks like motion planning or design optimization of soft robots require computationally cheap models of the system's behavior. In this paper we address this need by deriving operational point dependent Cosserat rod models from detailed volume finite element models (FEM). While the latter offer detailed simulations, they generally come with high computational burden that hinders them from being used in time critical model-based methods like motion planning or control. Basic Cosserat rod models promise to provide computationally efficient mechanical models of soft continuum robots. By using a detailed FE model in an offline stage to identify operational point dependent Cosserat rod models, we bring together the accuracy of volumetric FEM with the efficiency of Cosserat rod models. We apply the approach to a fiber reinforced soft pneumatic bending actuator module (SPA module) and evaluate the model's predictive capabilities for a single module as well as a two-module robot.
UR - http://www.scopus.com/inward/record.url?scp=85146351138&partnerID=8YFLogxK
U2 - 10.1109/IROS47612.2022.9981628
DO - 10.1109/IROS47612.2022.9981628
M3 - Conference contribution
AN - SCOPUS:85146351138
SN - 978-1-6654-7928-8
SP - 9371
EP - 9378
BT - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 23 October 2022 through 27 October 2022
ER -