TY - JOUR
T1 - Dynamics of Continuum and Soft Robots
T2 - A Strain Parameterization Based Approach
AU - Boyer, Frederic
AU - Lebastard, Vincent
AU - Candelier, Fabien
AU - Renda, Federico
N1 - Funding Information:
Manuscript received May 27, 2020; revised September 25, 2020; accepted October 22, 2020. Date of publication November 26, 2020; date of current version June 4, 2021. This work was supported in part by the French National Research Agency (ANR) through the COSSEROOTS research project (2020-2024), in part by the Khalifa University of Science and Technology under Award FSU-2018-08 Research Excellence (AARE) 2018-05. This article was recommended for publication by Associate Editor C. Bergeles and Editor P. Dupont upon evaluation of the reviewers’ comments. (Corresponding author: Vincent Lebastard.) Frederic Boyer and Vincent Lebastard are with the LS2N Laboratory, Institut Mines Telecom Atlantique, 44307 Nantes, France (e-mail: [email protected]; [email protected]).
Publisher Copyright:
© 2004-2012 IEEE.
PY - 2021/6
Y1 - 2021/6
N2 - In this article, we propose a new dynamic model of Cosserat beams in view of its application to continuum and soft robotics manipulation and locomotion. In contrast to usual approaches, it is based on the nonlinear parameterization of the beam shape by its strain fields and their reduction on a functional basis of strain modes. While remaining geometrically exact, the approach provides us with a minimal set of ordinary differential equations in the usual Lagrange matrix form that can be exploited for analysis and control design. Inspired from rigid robotics, the calculation of the matrices of this Lagrangian model is performed with a new reduced inverse Newton-Euler algorithm. To assess the approach, this Lagrangian model is compared against a well-validated finite element method through several benches of nonlinear structural statics and dynamics.
AB - In this article, we propose a new dynamic model of Cosserat beams in view of its application to continuum and soft robotics manipulation and locomotion. In contrast to usual approaches, it is based on the nonlinear parameterization of the beam shape by its strain fields and their reduction on a functional basis of strain modes. While remaining geometrically exact, the approach provides us with a minimal set of ordinary differential equations in the usual Lagrange matrix form that can be exploited for analysis and control design. Inspired from rigid robotics, the calculation of the matrices of this Lagrangian model is performed with a new reduced inverse Newton-Euler algorithm. To assess the approach, this Lagrangian model is compared against a well-validated finite element method through several benches of nonlinear structural statics and dynamics.
KW - Cosserat beams
KW - direct/inverse dynamics formulation
KW - dynamics
KW - modeling, control, and learning for soft robots
UR - http://www.scopus.com/inward/record.url?scp=85103361699&partnerID=8YFLogxK
U2 - 10.1109/TRO.2020.3036618
DO - 10.1109/TRO.2020.3036618
M3 - Article
AN - SCOPUS:85103361699
SN - 1552-3098
VL - 37
SP - 847
EP - 863
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 3
M1 - 9272318
ER -