Adaptive State Estimation with Constant-Curvature Dynamics Using Force-Torque Sensors with Application to a Soft Pneumatic Actuator

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

View graph of relations

Details

Original languageEnglish
Title of host publication2024 IEEE International Conference on Robotics and Automation, ICRA 2024
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages14939-14945
Number of pages7
ISBN (electronic)9798350384574
ISBN (print)979-8-3503-8458-1
Publication statusPublished - 13 May 2024
Event2024 IEEE International Conference on Robotics and Automation, ICRA 2024 - Yokohama, Japan
Duration: 13 May 202417 May 2024

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Abstract

Using compliant materials leads to continuum robots undergoing large deformations. Their nonlinear behavior motivates the use of model-based controllers. They require state estimation as an essential step to be deployed. Available sensors are usually realized by introducing rigid bodies to the soft robot or inserting soft sensors made of materials different from the robot itself. Both approaches result in changes in the system's dynamics. Optical measurements are problematic, especially in confined spaces. This can be avoided when the sensor is located at the robot's base. This paper studies the state estimation of a pneumatically actuated soft robot using the measured forces and torques at its base. For the first time, this is done using an unscented Kalman filter without restraining the dynamics to a planar or quasi-static motion while applying it to a real system. Real-time capability is achieved with our implementation. The state estimation is tested in a Cosserat rod simulation and on the physical system. The position is estimated with an accuracy of three to five millimeters for a 130 millimeter long pneumatic robot.

ASJC Scopus subject areas

Cite this

Adaptive State Estimation with Constant-Curvature Dynamics Using Force-Torque Sensors with Application to a Soft Pneumatic Actuator. / Mehl, Maximilian; Bartholdt, Max; Ehlers, Simon F.G. et al.
2024 IEEE International Conference on Robotics and Automation, ICRA 2024. Institute of Electrical and Electronics Engineers Inc., 2024. p. 14939-14945 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

Mehl, M, Bartholdt, M, Ehlers, SFG, Seel, T & Schappler, M 2024, Adaptive State Estimation with Constant-Curvature Dynamics Using Force-Torque Sensors with Application to a Soft Pneumatic Actuator. in 2024 IEEE International Conference on Robotics and Automation, ICRA 2024. Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 14939-14945, 2024 IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, 13 May 2024. https://doi.org/10.1109/ICRA57147.2024.10610370
Mehl, M., Bartholdt, M., Ehlers, S. F. G., Seel, T., & Schappler, M. (2024). Adaptive State Estimation with Constant-Curvature Dynamics Using Force-Torque Sensors with Application to a Soft Pneumatic Actuator. In 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 (pp. 14939-14945). (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA57147.2024.10610370
Mehl M, Bartholdt M, Ehlers SFG, Seel T, Schappler M. Adaptive State Estimation with Constant-Curvature Dynamics Using Force-Torque Sensors with Application to a Soft Pneumatic Actuator. In 2024 IEEE International Conference on Robotics and Automation, ICRA 2024. Institute of Electrical and Electronics Engineers Inc. 2024. p. 14939-14945. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA57147.2024.10610370
Mehl, Maximilian ; Bartholdt, Max ; Ehlers, Simon F.G. et al. / Adaptive State Estimation with Constant-Curvature Dynamics Using Force-Torque Sensors with Application to a Soft Pneumatic Actuator. 2024 IEEE International Conference on Robotics and Automation, ICRA 2024. Institute of Electrical and Electronics Engineers Inc., 2024. pp. 14939-14945 (Proceedings - IEEE International Conference on Robotics and Automation).
Download
@inproceedings{f4a07dc4de374195ba7b19ef7ea2e7b7,
title = "Adaptive State Estimation with Constant-Curvature Dynamics Using Force-Torque Sensors with Application to a Soft Pneumatic Actuator",
abstract = "Using compliant materials leads to continuum robots undergoing large deformations. Their nonlinear behavior motivates the use of model-based controllers. They require state estimation as an essential step to be deployed. Available sensors are usually realized by introducing rigid bodies to the soft robot or inserting soft sensors made of materials different from the robot itself. Both approaches result in changes in the system's dynamics. Optical measurements are problematic, especially in confined spaces. This can be avoided when the sensor is located at the robot's base. This paper studies the state estimation of a pneumatically actuated soft robot using the measured forces and torques at its base. For the first time, this is done using an unscented Kalman filter without restraining the dynamics to a planar or quasi-static motion while applying it to a real system. Real-time capability is achieved with our implementation. The state estimation is tested in a Cosserat rod simulation and on the physical system. The position is estimated with an accuracy of three to five millimeters for a 130 millimeter long pneumatic robot.",
author = "Maximilian Mehl and Max Bartholdt and Ehlers, {Simon F.G.} and Thomas Seel and Moritz Schappler",
note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 ; Conference date: 13-05-2024 Through 17-05-2024",
year = "2024",
month = may,
day = "13",
doi = "10.1109/ICRA57147.2024.10610370",
language = "English",
isbn = "979-8-3503-8458-1",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "14939--14945",
booktitle = "2024 IEEE International Conference on Robotics and Automation, ICRA 2024",
address = "United States",

}

Download

TY - GEN

T1 - Adaptive State Estimation with Constant-Curvature Dynamics Using Force-Torque Sensors with Application to a Soft Pneumatic Actuator

AU - Mehl, Maximilian

AU - Bartholdt, Max

AU - Ehlers, Simon F.G.

AU - Seel, Thomas

AU - Schappler, Moritz

N1 - Publisher Copyright: © 2024 IEEE.

PY - 2024/5/13

Y1 - 2024/5/13

N2 - Using compliant materials leads to continuum robots undergoing large deformations. Their nonlinear behavior motivates the use of model-based controllers. They require state estimation as an essential step to be deployed. Available sensors are usually realized by introducing rigid bodies to the soft robot or inserting soft sensors made of materials different from the robot itself. Both approaches result in changes in the system's dynamics. Optical measurements are problematic, especially in confined spaces. This can be avoided when the sensor is located at the robot's base. This paper studies the state estimation of a pneumatically actuated soft robot using the measured forces and torques at its base. For the first time, this is done using an unscented Kalman filter without restraining the dynamics to a planar or quasi-static motion while applying it to a real system. Real-time capability is achieved with our implementation. The state estimation is tested in a Cosserat rod simulation and on the physical system. The position is estimated with an accuracy of three to five millimeters for a 130 millimeter long pneumatic robot.

AB - Using compliant materials leads to continuum robots undergoing large deformations. Their nonlinear behavior motivates the use of model-based controllers. They require state estimation as an essential step to be deployed. Available sensors are usually realized by introducing rigid bodies to the soft robot or inserting soft sensors made of materials different from the robot itself. Both approaches result in changes in the system's dynamics. Optical measurements are problematic, especially in confined spaces. This can be avoided when the sensor is located at the robot's base. This paper studies the state estimation of a pneumatically actuated soft robot using the measured forces and torques at its base. For the first time, this is done using an unscented Kalman filter without restraining the dynamics to a planar or quasi-static motion while applying it to a real system. Real-time capability is achieved with our implementation. The state estimation is tested in a Cosserat rod simulation and on the physical system. The position is estimated with an accuracy of three to five millimeters for a 130 millimeter long pneumatic robot.

UR - http://www.scopus.com/inward/record.url?scp=85202438068&partnerID=8YFLogxK

U2 - 10.1109/ICRA57147.2024.10610370

DO - 10.1109/ICRA57147.2024.10610370

M3 - Conference contribution

AN - SCOPUS:85202438068

SN - 979-8-3503-8458-1

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 14939

EP - 14945

BT - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024

Y2 - 13 May 2024 through 17 May 2024

ER -

By the same author(s)