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

Amehri Walid; Gang Zheng; Alexandre Kruszewski; Federico Renda

doi:10.1115/1.4051609

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

Amehri Walid
, Gang Zheng
, Alexandre Kruszewski
, Federico Renda

Mechanical & Nuclear Engineering

Research output: Contribution to journal › Article › peer-review

10 Scopus citations

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.

Original language	British English
Article number	011012
Journal	Journal of Mechanisms and Robotics
Volume	14
Issue number	1
DOIs	https://doi.org/10.1115/1.4051609
State	Published - Feb 2022

Keywords

Cable-driven mechanisms
Mechanism synthesis
Soft robots

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title = "Discrete Cosserat Method for Soft Manipulators Workspace Estimation: An Optimization-Based Approach",

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{\textquoteright} configurations, numerical simulations are provided to highlight the feasibility of the proposed methodology.",

keywords = "Cable-driven mechanisms, Mechanism synthesis, Soft robots",

author = "Amehri Walid and Gang Zheng and Alexandre Kruszewski and Federico Renda",

note = "Funding Information: This work is partially supported by the National Natural Science Foundation of China (Grant No. 62073081), by the Project of Department of Education of Guangdong Province (Grant No. 2019KZDXM037), by the fund of Guangdong-Hong Kong-Macao Joint Laboratory for Intelligent Micro-Nano Optoelectronic Technology (No. 2020B1212030010), by the project ROBOCOP (ANR-19-CE19), by the project COSSEROOTS (ANR-20-CE33), by the project Inventor (I-SITE ULNE, le programme d{\textquoteright}Investisse-ments d{\textquoteright}Avenir, M{\'e}tropole Europ{\'e}enne de Lille, and by Khalifa University of Science and Technology under Award No. CIRA-2020-074. Publisher Copyright: Copyright {\textcopyright} 2021 by ASME.",

year = "2022",

month = feb,

doi = "10.1115/1.4051609",

language = "British English",

volume = "14",

journal = "Journal of Mechanisms and Robotics",

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T1 - Discrete Cosserat Method for Soft Manipulators Workspace Estimation

T2 - An Optimization-Based Approach

AU - Walid, Amehri

AU - Zheng, Gang

AU - Kruszewski, Alexandre

AU - Renda, Federico

N1 - Funding Information: This work is partially supported by the National Natural Science Foundation of China (Grant No. 62073081), by the Project of Department of Education of Guangdong Province (Grant No. 2019KZDXM037), by the fund of Guangdong-Hong Kong-Macao Joint Laboratory for Intelligent Micro-Nano Optoelectronic Technology (No. 2020B1212030010), by the project ROBOCOP (ANR-19-CE19), by the project COSSEROOTS (ANR-20-CE33), by the project Inventor (I-SITE ULNE, le programme d’Investisse-ments d’Avenir, Métropole Européenne de Lille, and by Khalifa University of Science and Technology under Award No. CIRA-2020-074. Publisher Copyright: Copyright © 2021 by ASME.

PY - 2022/2

Y1 - 2022/2

N2 - 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.

AB - 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.

KW - Cable-driven mechanisms

KW - Mechanism synthesis

KW - Soft robots

UR - https://www.scopus.com/pages/publications/85124498879

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DO - 10.1115/1.4051609

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ER -

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

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Keywords

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