Authors

Brandon Caasenbrood, Alexander Pogromsky, Henk Nijmeijer

Abstract

In this work, we describe an energy-based control method for under-actuated soft manipulators. The continuous dynamics of the soft robot are modeled by the differential geometry of Cosserat beams. Through a finite-dimensional truncation, a reduced port-Hamiltonian model is obtained that preserves desirable passivity conditions. Exploiting the passivity, we propose a stabilizing energy-shaping controller that ensures the potential energy is minimal at the desired end-effector configuration. Finally, the effectiveness of the energy-based controller is demonstrated through simulations of a soft manipulator inspired by the tentacle of an octopus.

Citation

  • Journal: Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics
  • Year: 2021
  • Volume:
  • Issue:
  • Pages: 311–319
  • Publisher: SCITEPRESS - Science and Technology Publications
  • DOI: 10.5220/0010581503110319

BibTeX

@inproceedings{Caasenbrood_2021,
  title={{Energy-based Control for Soft Manipulators using Cosserat-beam Models}},
  DOI={10.5220/0010581503110319},
  booktitle={{Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics}},
  publisher={SCITEPRESS - Science and Technology Publications},
  author={Caasenbrood, Brandon and Pogromsky, Alexander and Nijmeijer, Henk},
  year={2021},
  pages={311--319}
}

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