Modeling and Control of an Octopus Inspired Soft Arm under Prescribed Spatial Motion Constraints

doi:10.1007/s10846-023-02026-7

	Modeling and Control of an Octopus Inspired Soft Arm under Prescribed Spatial Motion Constraints
	Ma, Jie 1,2,3; Han, Zhiji 1,2,3; Liu, Zhijie 1,2,3; Li, Guotao4 ; He, Wei 1,2,3; Ge, Shuzhi Sam 5,6
发表期刊	JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
ISSN	0921-0296
	2023-12-01
卷号	109 期号:4 页码:18
通讯作者	He, Wei(weihe@ieee.org)
摘要	Precise control of soft robots remains challenging due to their highly compliant nature. Existing kinematic models may not enable accurate control performance as they do not account for actuation forces and dynamics. This paper tackles the problem of precise motion control for a soft robotic arm with longitudinal muscle actuators. We develop an integrated modeling and control framework that incorporates dynamics and actuation forces for improved accuracy. A key contribution is deriving and implementing a mathematical model of the soft muscle actuators using minimum norm optimization. Among, actuator saturation is addressed through a tension limiting function. Based on the whole model, we develop a dynamic surface controller with performance constraint to precisely control the soft arm. This controller makes soft robot subsequent interactions more secure. To assess the approach, numerical simulations and physical experiments are designed to verify the feasibility and rationality.
关键词	Soft robot Four-longitudinal muscle Dynamic model Actuator modeling Performance constraint
DOI	10.1007/s10846-023-02026-7
关键词[WOS]	NONLINEAR-SYSTEMS ; TRACKING CONTROL ; FEEDBACK-CONTROL ; ROBOT ARM ; MANIPULATORS ; TENDON
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[62073030] ; National Natural Science Foundation of China[EDUNC-33-18-279-V12] ; Ministry of Education, Singapore
项目资助者	National Natural Science Foundation of China ; National Natural Science Foundation of China ; Ministry of Education, Singapore
WOS研究方向	Computer Science ; Robotics
WOS类目	Computer Science, Artificial Intelligence ; Robotics
WOS记录号	WOS:001124874600001
出版者	SPRINGER
引用统计	被引频次：1[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/55007
专题	多模态人工智能系统全国重点实验室
通讯作者	He, Wei
作者单位	1.Univ Sci & Technol Beijing, Sch Intelligence Sci & Technol, Beijing 100083, Peoples R China 2.Univ Sci & Technol Beijing, Inst Artificial Intelligence, Beijing 100083, Peoples R China 3.Univ Sci & Technol Beijing, Key Lab Intelligent Bion Unmanned Syst, Minist Educ, Beijing 100083, Peoples R China 4.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 5.Inst Funct Intelligent Mat, Dept Elect & Comp Engn, Singapore 117583, Singapore 6.Natl Univ Singapore, Inst Funct Intelligent Mat, Singapore 117583, Singapore
推荐引用方式 GB/T 7714	Ma, Jie,Han, Zhiji,Liu, Zhijie,et al. Modeling and Control of an Octopus Inspired Soft Arm under Prescribed Spatial Motion Constraints[J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,2023,109(4):18.
APA	Ma, Jie,Han, Zhiji,Liu, Zhijie,Li, Guotao,He, Wei,&Ge, Shuzhi Sam.(2023).Modeling and Control of an Octopus Inspired Soft Arm under Prescribed Spatial Motion Constraints.JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,109(4),18.
MLA	Ma, Jie,et al."Modeling and Control of an Octopus Inspired Soft Arm under Prescribed Spatial Motion Constraints".JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 109.4(2023):18.