The design and kinematic representation of a soft robot in a simulation environment
The increase of human presence in the subsea and seabed environments necessitates the development of more capable and highly dexterous, innovative underwater manipulators. Biomimetic soft-robot arms represent a promising candidate for such manipulation systems. However, the well-known modeling techn...
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| Veröffentlicht in: | Robotica 2024-01, Vol.42 (1), p.139-152 |
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| creator | Emet, Hazal Gür, Berke Dede, Mehmet İsmet Can |
| description | The increase of human presence in the subsea and seabed environments necessitates the development of more capable and highly dexterous, innovative underwater manipulators. Biomimetic soft-robot arms represent a promising candidate for such manipulation systems. However, the well-known modeling techniques and control theories of traditional rigid robots do not apply to soft robots. The challenges of kinematic and dynamic modeling of soft robots with infinite degrees of freedom require the development of dedicated modeling methods. A novel procedure for representing soft-robotic arms and their motion in a rigid-body simulation environment is proposed in this paper. The proposed procedure relies on the piecewise constant curvature approach to simplify the very complex model of hyper-redundant soft-robotic arms, making it suitable for real-time applications. The proposed method is implemented and verified to be used in model-mediated teleoperation of the soft arms of a biomimetic robotic squid designed for underwater manipulation as a case study. |
| doi_str_mv | 10.1017/S026357472300139X |
| format | Article |
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Biomimetic soft-robot arms represent a promising candidate for such manipulation systems. However, the well-known modeling techniques and control theories of traditional rigid robots do not apply to soft robots. The challenges of kinematic and dynamic modeling of soft robots with infinite degrees of freedom require the development of dedicated modeling methods. A novel procedure for representing soft-robotic arms and their motion in a rigid-body simulation environment is proposed in this paper. The proposed procedure relies on the piecewise constant curvature approach to simplify the very complex model of hyper-redundant soft-robotic arms, making it suitable for real-time applications. 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| fulltext | fulltext |
| identifier | ISSN: 0263-5747 |
| ispartof | Robotica, 2024-01, Vol.42 (1), p.139-152 |
| issn | 0263-5747 1469-8668 |
| language | eng |
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| source | Cambridge University Press Journals Complete |
| subjects | Biomimetics Communications systems Design Dynamic models Efficiency Innovative Robot Design for Special Applications Kinematics Methods Modelling Ocean floor Robot arms Robotics Robots Simulation Soft robotics Underwater |
| title | The design and kinematic representation of a soft robot in a simulation environment |
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