1,720,974 research outputs found
Dynamic Model of a Multibending Soft Robot Arm Driven by Cables
No full textThe new and promising field of soft robotics has many open areas of research such as the development of an exhaustive theoretical and methodological approach to dynamic modeling. To help contribute to this area of research, this paper develops a dynamic model of a continuum soft robot arm driven by cables and based upon a rigorous geometrically exact approach. The model fully investigates both dynamic interaction with a dense medium and the coupled tendon condition. The model was experimentally validated with satisfactory results, using a soft robot arm working prototype inspired by the octopus arm and capable of multibending. Experimental validation was performed for the octopus most characteristic movements: bending, reaching, and fetching. The present model can be used in the design phase as a dynamic simulation platform and to design the control strategy of a continuum robot arm moving in a dense medium
A 3D Steady State Model of a Tendon-Driven Continuum Soft Manipulator Inspired by Octopus Arm
No full textControl and modelling of continuum robots are challenging tasks for robotic researchers. Most
works on modelling are limited to piecewise constant curvature. In many cases they neglect to
model the actuators or avoid a continuum approach. In particular, in the latter case this leads to
a complex model hardly implemented. In this work, a geometrically exact steady-state model
of a tendon-driven manipulator inspired by the octopus arm is presented. It takes a continuum
approach, fast enough to be implemented in the control law, and includes a model of the
actuation system. The model was experimentally validated and the results are reported. In
conclusion, the model presented can be used as a tool for mechanical design of continuum
tendon-driven manipulators, for planning control strategies or as internal model in an
embedded system
Neural Network Learning the Inverse Kinetics of an Octopus Inspired Manipulator in Three-Dimensional Space
No full textProcedimento e sistema di controllo adattivo in un veicolo terrestre per l'inseguimento di un percorso, particolarmente in uno scenario di guida autonoma
No full textAdaptive longitudinal control of an autonomous vehicle with an approximate knowledge of its parameters
No full textThis paper explores the longitudinal control problem of an autonomous car in legal speed range. The goal is to develop a longitudinal controller that does not rely on vehicle identification parameters, while being capable of tracking the speed profile with comfort acceleration. A modification of a Model Reference Adaptive Control (MRAC) technique found in literature has been deeply studied and implemented, by setting the proper initial conditions for the target application. The proposed architecture is capable of controlling a vehicle whose parameters are known approximately. A CarSim-Simulink joint simulation verifies the feasibility of the proposed strategy and evaluates performances of vehicles at low and high dynamics conditions
A Feed-Forward Neural Network Learning the Inverse Kinetics of a Soft Cable-Driven Manipulator Moving in Three-Dimensional Space
No full textA Feed-Forward Neural Network for Solving the Inverse kinetics of Non-Constant Curvature Soft Manipulators Driven by Cables
No full textForward speed control of a pulsed-jet soft-bodied underwater vehicle
No full textThis paper reports on the development of the control for a new class of soft underwater vehicles. These vehicles exploit their soft-bodied nature to produce thrust by cyclically ingesting and expelling ambient fluid. A forward speed control based on the linearised dynamics of the robot is design. The control succeeds at dealing with the discontinuous thrust by accounting for the shape-change driven actuation
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