Energy-based Control for Soft Manipulators using Cosserat-beam Models

Brandon Caasenbrood, Alexander Pogromsky, Alexander Pogromsky, Henk Nijmeijer

2021

Abstract

In this work, we describe an energy-based control method for under-actuated soft manipulators. The continuous dynamics of the soft robot are modeled by the differential geometry of Cosserat beams. Through a finite-dimensional truncation, a reduced port-Hamiltonian model is obtained that preserves desirable passivity conditions. Exploiting the passivity, we propose a stabilizing energy-shaping controller that ensures the potential energy is minimal at the desired end-effector configuration. Finally, the effectiveness of the energy-based controller is demonstrated through simulations of a soft manipulator inspired by the tentacle of an octopus.

Paper Citation

in Harvard Style

Caasenbrood B., Pogromsky A. and Nijmeijer H. (2021). Energy-based Control for Soft Manipulators using Cosserat-beam Models. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 311-319. DOI: 10.5220/0010581503110319

in Bibtex Style

@conference{icinco21,
author={Brandon Caasenbrood and Alexander Pogromsky and Henk Nijmeijer},
title={Energy-based Control for Soft Manipulators using Cosserat-beam Models},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={311-319},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010581503110319},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Energy-based Control for Soft Manipulators using Cosserat-beam Models
SN - 978-989-758-522-7
AU - Caasenbrood B.
AU - Pogromsky A.
AU - Nijmeijer H.
PY - 2021
SP - 311
EP - 319
DO - 10.5220/0010581503110319