Energy-based Control for Soft Manipulators using Cosserat-beam Models
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}
}