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

doi:10.1007/s10846-023-02026-7

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室

	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, Guotao 4; He, Wei 1,2,3; Ge, Shuzhi Sam 5,6
刊名	JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
	2023-12-01
卷号	109 期号:4 页码:18
关键词	Soft robot Four-longitudinal muscle Dynamic model Actuator modeling Performance constraint
ISSN号	0921-0296
DOI	10.1007/s10846-023-02026-7
通讯作者	He, Wei(weihe@ieee.org)
英文摘要	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.
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
WOS关键词	NONLINEAR-SYSTEMS ; TRACKING CONTROL ; FEEDBACK-CONTROL ; ROBOT ARM ; MANIPULATORS ; TENDON
WOS研究方向	Computer Science ; Robotics
语种	英语
出版者	SPRINGER
WOS记录号	WOS:001124874600001
资助机构	National Natural Science Foundation of China ; National Natural Science Foundation of China ; Ministry of Education, Singapore
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/55006]
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.