A Standard Framework for Soft Robotics: Soft Robotics Modelling and Control

  • Ikhlas Ben Hmida

Student thesis: Master's Thesis

Abstract

Despite the growing interest in the field of soft robotics, there is still no unified framework to mathematically represent a soft robot as accurately as rigid robotics models. There is however an abundance of separately functioning geometric and mechanical models such as the Piecewise Constant Curvature and the Continuous Cosserat models. A unifying Piecewise Constant Strain model has however been recently proposed that spans the modelling of both soft and rigid robots. This project proposal outlines the intended integration of this model into currently available simulation platforms by the development of a MATLAB toolbox that facilitates the design, kinematic and dynamic modelling as well as low-level control of soft, rigid or mixed robotic systems. The developed MATLAB Toolbox was benchmarked using elaborate rigid robotics software such as Peter Corke's Robotics Toolbox. A hybrid soft gripper was also designed and fabricated in order to evaluate the simulation capabilities of the toolbox. The behavior of the gripper was simulated using the toolbox and compared to the actual motion under various actuation and external loads.
Date of AwardDec 2020
Original languageAmerican English

Keywords

  • Soft robotics
  • Continuum manipulators
  • Open chain robots
  • Piecewise Constant Strain
  • Discrete Cosserat Approach
  • Forward kinematics
  • Statics
  • MATLAB Toolbox
  • Modelling
  • Control
  • Barrette Hand.

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