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Authors: Brandon Caasenbrood 1 ; Alexander Pogromsky 2 ; 1 and Henk Nijmeijer 1

Affiliations: 1 Department of Mechanical Engineering, Eindhoven University of Technology, The Netherlands ; 2 Department of Control Systems and Informatics, Saint-Petersburg National Research University of Information Technologies, Mechanics, and Optics (ITMO), Russian Federation

Keyword(s): Soft Robotics, Cosserat Beam Theory, Dynamic Modeling, Energy-based Control.

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.

CC BY-NC-ND 4.0

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Paper citation in several formats:
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 - ICINCO, ISBN 978-989-758-522-7; ISSN 2184-2809, pages 311-319. DOI: 10.5220/0010581503110319

@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 - ICINCO,},
year={2021},
pages={311-319},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010581503110319},
isbn={978-989-758-522-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO,
TI - Energy-based Control for Soft Manipulators using Cosserat-beam Models
SN - 978-989-758-522-7
IS - 2184-2809
AU - Caasenbrood, B.
AU - Pogromsky, A.
AU - Nijmeijer, H.
PY - 2021
SP - 311
EP - 319
DO - 10.5220/0010581503110319

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