Lindenroth, L;
Back, J;
Schoisengeier, A;
Noh, Y;
Würdemann, H;
Althoefer, K;
Liu, H;
(2016)
Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator.
In:
Proceedings of 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
(pp. pp. 2458-2463).
IEEE: Daejeon, Korea.
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Abstract
This work investigates the applicability of stiffness-based modelling in soft robotics manipulation. The methodology is introduced and applied to model a soft robotics manipulator as single 3d Timoshenko beam element. The model is then utilized to solve the forward kinematics problem for the manipulator. The algorithm is validated comparing the simulated deflection with the deflection of the physical manipulator for two defined pressure sequences. It is shown that the model behaves in a highly similar fashion in comparison to the manipulator. For both trajectories the maximum position error is close to 6 mm while the error in orientation not more than 18°. The methodology as described in this work reveals great applicability to the field of soft robots being limited only by the stiffness matrix assembly for the given system. Implementations of inverse kinematics and the effects of external force applications are effectively integrable in the described theory.
| Type: | Proceedings paper |
|---|---|
| Title: | Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator |
| Event: | 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| ISBN-13: | 9781509037629 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/IROS.2016.7759383 |
| Publisher version: | https://doi.org/10.1109/IROS.2016.7759383 |
| Language: | English |
| Additional information: | Copyright © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
| Keywords: | Manipulators, Soft robotics, Kinematics, Mathematical model, Force, Computational modeling |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/1518014 |
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