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Authors: Simone Cacace 1 ; Anna Chiara Lai 2 and Paola Loreti 2

Affiliations: 1 Dipartimento di Matematica e Fisica, Università degli Studi Roma Tre, Largo S. Murialdo, 1, 00154 Roma, Italy ; 2 Dipartimento di Scienze di Base e Applicate per l’Ingegneria, Sapienza Università di Roma, Via A. Scarpa, 16, 00161 Roma, Italy

Keyword(s): Soft Manipulators, Hyper-redundant Manipulators, Control Strategies, Reachability, Obstacle Avoidance.

Abstract: We address an optimal reachability problem in constrained environments for hyper-redundant and soft planar manipulators. Both the discrete and continuous devices are inextensible and they are characterized by a bending moment, representing a natural resistance to leave the position at rest, an inequality constraint forcing the bending below a fixed threshold, and a control term prescribing local bending. After introducing the model and characterizing the associated equilibria, we set the problem in the framework of optimal control theory and we present some simulations related to its numerical solution.

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Paper citation in several formats:
Cacace, S.; Lai, A. and Loreti, P. (2020). Optimal Reachability with Obstacle Avoidance for Hyper-redundant and Soft Manipulators. In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-442-8; ISSN 2184-2809, SciTePress, pages 134-141. DOI: 10.5220/0009819101340141

@conference{icinco20,
author={Simone Cacace. and Anna Chiara Lai. and Paola Loreti.},
title={Optimal Reachability with Obstacle Avoidance for Hyper-redundant and Soft Manipulators},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2020},
pages={134-141},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009819101340141},
isbn={978-989-758-442-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Optimal Reachability with Obstacle Avoidance for Hyper-redundant and Soft Manipulators
SN - 978-989-758-442-8
IS - 2184-2809
AU - Cacace, S.
AU - Lai, A.
AU - Loreti, P.
PY - 2020
SP - 134
EP - 141
DO - 10.5220/0009819101340141
PB - SciTePress

- Science and Technology Publications, Lda.
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