TY - JOUR
T1 - Geometrically exact models for soft robotic manipulators
AU - Trivedi, Deepak
AU - Lotfi, Amir
AU - Rahn, Christopher D.
N1 - Funding Information:
Manuscript received September 20, 2007; revised February 15, 2008. This paper was recommended for publication by Associate Editor S. Hirai and Editor H. Arai upon evaluation of the reviewers’ comments. This work was supported by the Defence Advanced Research Project Agency (DARPA). This paper was presented in part at the IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, October 29–November 2, 2007.
PY - 2008/8
Y1 - 2008/8
N2 - Unlike traditional rigid linked robots, soft robotic manipulators can bend into a wide variety of complex shapes due to control inputs and gravitational loading. This paper presents a new approach for modeling soft robotic manipulators that incorporates the effect of material nonlinearities and distributed weight and payload. The model is geometrically exact for the large curvature, shear, torsion, and extension that often occur in these manipulators. The model is based on the geometrically exact Cosserat rod theory and a fiber reinforced model of the air muscle actuators. The model is validated experimentally on the OctArm V manipulator, showing less than 5% average error for a wide range of actuation pressures and base orientations as compared to almost 50% average error for the constant-curvature model previously used by researchers. Workspace plots generated from the model show the significant effects of self-weight on OctArm V.
AB - Unlike traditional rigid linked robots, soft robotic manipulators can bend into a wide variety of complex shapes due to control inputs and gravitational loading. This paper presents a new approach for modeling soft robotic manipulators that incorporates the effect of material nonlinearities and distributed weight and payload. The model is geometrically exact for the large curvature, shear, torsion, and extension that often occur in these manipulators. The model is based on the geometrically exact Cosserat rod theory and a fiber reinforced model of the air muscle actuators. The model is validated experimentally on the OctArm V manipulator, showing less than 5% average error for a wide range of actuation pressures and base orientations as compared to almost 50% average error for the constant-curvature model previously used by researchers. Workspace plots generated from the model show the significant effects of self-weight on OctArm V.
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U2 - 10.1109/TRO.2008.924923
DO - 10.1109/TRO.2008.924923
M3 - Article
AN - SCOPUS:50649102115
SN - 1552-3098
VL - 24
SP - 773
EP - 780
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 4
ER -