NDLI: Real-time control of soft-robots using asynchronous finite element modeling

Content Provider	IEEE Xplore Digital Library
Author	Largilliere, F. Verona, V. Coevoet, E. Sanz-Lopez, M. Dequidt, J. Duriez, C.
Copyright Year	2015
Abstract	Finite Element analysis can provide accurate deformable models for soft-robots. However, using such models is very difficult in a real-time system of control. In this paper, we introduce a generic solution that enables a high-rate control and that is compatible with strong real-time constraints. From a Finite Element analysis, computed at low rate, an inverse model of the robot outputs the setpoint values for the actuator in order to obtain a desired trajectory. This inverse problem uses a QP (quadratic-programming) algorithm based on the equations set by the Finite Element Method. To improve the update rate performances, we propose an asynchronous simulation framework that provides a better trade-off between the deformation accuracy and the computational burden. Complex computations such as accurate FEM deformations are done at low frequency while the control is performed at high frequency with strong real-time constraints. The two simulation loops (high frequency and low frequency loops) are mechanically coupled in order to guarantee mechanical accuracy of the system over time. Finally, the validity of the multi-rate simulation is discussed based on measurements of the evolution in the QP matrix and an experimental validation is conducted to validate the correctness of the high-rate inverse model on a real robot.
Starting Page	2550
Ending Page	2555
File Size	809906
Page Count	6
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7139541
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Actuators Computational modeling Finite element analysis Inverse problems Trajectory Mathematical model
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Control of elastic soft robots based on real-time finite element method

Real-time Control of Soft-Robots using Asynchronous Finite Element Modeling

Real-time Control of Soft-Robots using Asynchronous Finite Element Modeling

Real-time haptic simulation of soft tissue deformation

Reduced Order Control of Soft Robots with Guaranteed Stability

Design optimisation of soft silicone pneumatic actuators using finite element analysis

Optimisation based control framework for autonomous vehicles: Algorithm and experiment

Real-time path tracking with torque limits by using a disturbance observer

Integrated Structure/Control Design Using Finite Element Models-Preliminary Results

Real-time control of soft-robots using asynchronous finite element modeling

Similar Documents

Control of elastic soft robots based on real-time finite element method

Real-time Control of Soft-Robots using Asynchronous Finite Element Modeling

Real-time Control of Soft-Robots using Asynchronous Finite Element Modeling

Real-time haptic simulation of soft tissue deformation

Reduced Order Control of Soft Robots with Guaranteed Stability

Design optimisation of soft silicone pneumatic actuators using finite element analysis

Optimisation based control framework for autonomous vehicles: Algorithm and experiment

Real-time path tracking with torque limits by using a disturbance observer

Integrated Structure/Control Design Using Finite Element Models-Preliminary Results

Real-time control of soft-robots using asynchronous finite element modeling