Details
| Original language | English |
|---|---|
| Pages (from-to) | 1668-1675 |
| Number of pages | 8 |
| Journal | IEEE Robotics and Automation Letters |
| Volume | 9 |
| Issue number | 2 |
| Early online date | 22 Dec 2023 |
| Publication status | Published - Feb 2024 |
Abstract
Soft material robotic systems offer inherent safety and flexibility due to their low material stiffness. Therefore, soft material robots are prone to operate in unknown environments and fulfill tasks that involve and even exploit contact with the environment. Moving to the application of soft robots, incorporating validated contact models in modeling frameworks can be crucial for simulation tasks in, e.g. design optimization, motion planning or control. Cosserat rod models have proven themselves not only to be accurate but also computationally efficient for slender soft continuum robots (SCRs). However, only recently the topic of contact modeling has been introduced to Cosserat rod frameworks for SCRs. In this paper, for the first time we present and analyze an approach to include contact modeling in a widely used shooting-based Cosserat rod implementation. Evaluation against detailed finite element (FE) simulations indicate comparable accuracy, while the computational time remains a small fraction. Simulated data for the considered contact scenarios reveal a consistent level of agreement to experimental data, with minor discrepancies. The results are a promising basis on which further contact investigations can build.
Keywords
- Computational modeling, Contact Modeling, Finite element analysis, Flexible Robotics, Force, Kinematics, Load modeling, Mathematical models, Modeling, Control, and Learning for Soft Robots, Robots
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Biomedical Engineering
- Computer Science(all)
- Human-Computer Interaction
- Engineering(all)
- Mechanical Engineering
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Computer Science Applications
- Mathematics(all)
- Control and Optimization
- Computer Science(all)
- Artificial Intelligence
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In: IEEE Robotics and Automation Letters, Vol. 9, No. 2, 02.2024, p. 1668-1675.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Describing and Analyzing Mechanical Contact for Continuum Robots Using a Shooting-Based Cosserat Rod Implementation
AU - Wiese, Mats
AU - Berthold, Rebecca
AU - Wangenheim, Matthias
AU - Raatz, Annika
N1 - Funding Information: Thisworkwas supported by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under Grant 405032969.
PY - 2024/2
Y1 - 2024/2
N2 - Soft material robotic systems offer inherent safety and flexibility due to their low material stiffness. Therefore, soft material robots are prone to operate in unknown environments and fulfill tasks that involve and even exploit contact with the environment. Moving to the application of soft robots, incorporating validated contact models in modeling frameworks can be crucial for simulation tasks in, e.g. design optimization, motion planning or control. Cosserat rod models have proven themselves not only to be accurate but also computationally efficient for slender soft continuum robots (SCRs). However, only recently the topic of contact modeling has been introduced to Cosserat rod frameworks for SCRs. In this paper, for the first time we present and analyze an approach to include contact modeling in a widely used shooting-based Cosserat rod implementation. Evaluation against detailed finite element (FE) simulations indicate comparable accuracy, while the computational time remains a small fraction. Simulated data for the considered contact scenarios reveal a consistent level of agreement to experimental data, with minor discrepancies. The results are a promising basis on which further contact investigations can build.
AB - Soft material robotic systems offer inherent safety and flexibility due to their low material stiffness. Therefore, soft material robots are prone to operate in unknown environments and fulfill tasks that involve and even exploit contact with the environment. Moving to the application of soft robots, incorporating validated contact models in modeling frameworks can be crucial for simulation tasks in, e.g. design optimization, motion planning or control. Cosserat rod models have proven themselves not only to be accurate but also computationally efficient for slender soft continuum robots (SCRs). However, only recently the topic of contact modeling has been introduced to Cosserat rod frameworks for SCRs. In this paper, for the first time we present and analyze an approach to include contact modeling in a widely used shooting-based Cosserat rod implementation. Evaluation against detailed finite element (FE) simulations indicate comparable accuracy, while the computational time remains a small fraction. Simulated data for the considered contact scenarios reveal a consistent level of agreement to experimental data, with minor discrepancies. The results are a promising basis on which further contact investigations can build.
KW - Computational modeling
KW - Contact Modeling
KW - Finite element analysis
KW - Flexible Robotics
KW - Force
KW - Kinematics
KW - Load modeling
KW - Mathematical models
KW - Modeling, Control, and Learning for Soft Robots
KW - Robots
UR - http://www.scopus.com/inward/record.url?scp=85181576927&partnerID=8YFLogxK
U2 - 10.1109/lra.2023.3346272
DO - 10.1109/lra.2023.3346272
M3 - Article
AN - SCOPUS:85181576927
VL - 9
SP - 1668
EP - 1675
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
SN - 2377-3766
IS - 2
ER -