Alkayas, AY;
Mathew, AT;
Feliu-Talegon, D;
Deng, P;
Thuruthel, TG;
Renda, F;
(2024)
Soft Synergies: Model Order Reduction of Hybrid Soft-Rigid Robots via Optimal Strain Parameterization.
IEEE Transactions on Robotics
pp. 1-20.
10.1109/TRO.2024.3522182.
(In press).
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Abstract
Soft robots offer remarkable adaptability and safety advantages over rigid robots, but modeling their complex, nonlinear dynamics remains challenging. Strain-based models have recently emerged as a promising candidate to describe such systems, however, they tend to be high-dimensional and timeconsuming. This paper presents a novel model order reduction approach for soft and hybrid robots by combining strainbased modeling with Proper Orthogonal Decomposition (POD). The method identifies optimal coupled strain basis functions - or mechanical synergies- from simulation data, enabling the description of soft robot configurations with a minimal number of generalized coordinates. The reduced order model (ROM) achieves substantial dimensionality reduction in the configuration space while preserving accuracy. Rigorous testing demonstrates the interpolation and extrapolation capabilities of the ROM for soft manipulators under static and dynamic conditions. The approach is further validated on a snake-like hyper-redundant rigid manipulator and a closed-chain system with soft and rigid components, illustrating its broad applicability. Moreover, the approach is leveraged for shape estimation of a real six-actuator soft manipulator using only two position markers, showcasing its practical utility. Finally, the ROM's dynamic and static behavior is validated experimentally against a parallel hybrid soft-rigid system, highlighting its effectiveness in representing the HighOrder Model (HOM) and the real system. This POD-based ROM offers significant computational speed-ups, paving the way for real-time simulation and control of complex soft and hybrid robots.
| Type: | Article |
|---|---|
| Title: | Soft Synergies: Model Order Reduction of Hybrid Soft-Rigid Robots via Optimal Strain Parameterization |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/TRO.2024.3522182 |
| Publisher version: | https://doi.org/10.1109/tro.2024.3522182 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher's terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10203109 |
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