FEM-Based Exterior Workspace Boundary Estimation for Soft Robots via Optimization

This letter investigates the exterior workspace boundary of a soft robot with a certain configuration controlled by equipped bounded actuators. To achieve this, we implement an optimization-based approach on the studied soft robot which has been modeled by the Finite Element Method (FEM). Finally, w...

Full description

Saved in:
Bibliographic Details
Published inIEEE robotics and automation letters Vol. 7; no. 2; pp. 3672 - 3678
Main Authors Amehri, Walid, Zheng, Gang, Kruszewski, Alexandre
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 01.04.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Actuators
Computer Science
Configurations
constrained optimization
End effectors
Estimation
Finite element analysis
Finite element method
Mathematical models
Optimization
Robotics
Robots
Soft robotics
workspace boundary
Soft robotics
Workspace boundary
Soft robotics Workspace boundary Constrained optimization
Constrained optimization
Online AccessGet full text

Cover

More Information
Summary:This letter investigates the exterior workspace boundary of a soft robot with a certain configuration controlled by equipped bounded actuators. To achieve this, we implement an optimization-based approach on the studied soft robot which has been modeled by the Finite Element Method (FEM). Finally, we provide numerical simulations of various configurations to demonstrate the validity of the suggested technique, which, in comparison to the conventional forward method, may considerably minimize the complexity of exterior workspace boundary estimation.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2022.3147890