Discrete Cosserat Method for Soft Manipulators Workspace Estimation: An Optimization-Based Approach-Reference-Cited by-同舟云学术

Discrete Cosserat Method for Soft Manipulators Workspace Estimation: An Optimization-Based Approach

Published:2021-08-11 Issue:1 Volume:14 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Walid Amehri¹,Zheng Gang²¹,Kruszewski Alexandre¹,Renda Federico³

Affiliation:

1. University of Lille, Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL, F-59000 Lille, France

2. School of Mathematics and Big Data, Foshan University, Foshan 528000, China;

3. Khalifa University Center for Autonomous Robotic Systems, Khalifa University, Abu Dhabi 127788, United Arab Emirates

Abstract

Abstract This article investigates the workspace estimation of soft manipulators. Given a configuration of such a soft robot, with the bounded actuators, the discrete Cosserat method is adopted to deduce the mathematical model of soft manipulators, based on which an optimization-based approach is proposed to estimate the workspace. Implemented to various soft manipulators’ configurations, numerical simulations are provided to highlight the feasibility of the proposed methodology.

Funder

Agence Nationale de la Recherche

National Natural Science Foundation of China

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/14/1/011012/6738646/jmr_14_1_011012.pdf

Reference18 articles.

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2. A Taxonomy for Human-Robot Interaction;Yanco,2002