Statics and Dynamics of Continuum Robots Based on Cosserat Rods and Optimal Control Theories

Frederic Boyer, Vincent Lebastard, Fabien Candelier, Federico Renda, Mazen Alamir

Research output: Contribution to journalArticlepeer-review

15 Scopus citations

Abstract

This article explores the relationship between optimal control and Cosserat beam theory from the perspective of solving the forward and inverse dynamics (and statics as a subcase) of continuous manipulators and snake-like bioinspired locomotors. By invoking the principle of minimum potential energy and the Gauss principle of least constraint, it is shown that the quasi-static and dynamic evolutions of these robots are the solutions of optimal control problems in the space variable, which can be solved at each step (of loading or time) of a simulation with the shooting method. In addition to offering an alternative viewpoint on several simulation approaches proposed in the recent past, the optimal control viewpoint allows us to improve some of them while providing a better understanding of their numerical properties. The approach and its properties are illustrated through a set of numerical examples validated against a reference simulator.

Original languageBritish English
Pages (from-to)1-19
Number of pages19
JournalIEEE Transactions on Robotics
DOIs
StateAccepted/In press - 2022

Keywords

  • Continuous and soft robots
  • cosserat rods
  • dynamic modeling
  • gauss' principle of least constraint
  • Heuristic algorithms
  • Manipulator dynamics
  • newton-Euler inverse and forward dynamics
  • Numerical models
  • optimal control
  • Potential energy
  • Robots
  • Strain
  • Stress

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