Abstract
A cable-driven soft robot with redundancy can perform the tip trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking with a designated tip orientation, or avoiding obstacles in the environment. These constraints require proper motion planning of the soft material-based body that can be axially compressed. In this letter, we derive the compressible curvature kinematics of a cable-driven soft robot which takes the undesirable axial compression caused by the cable-driven mechanism into account. Robot motion planning for tip trajectory tracking tasks in constrained conditions, including fixed orientation tip and manipulator-obstacle collision avoidance, are investigated. The inverse solution of cable actuation is formulated as a damped least-square optimization problem and iteratively computed off-line. The performance of path and trajectory tracking, and the obedience to constraints are evaluated via the simulation we make open-source, as well as prototype experiments. The method can be generalized to similar multisegment cable-driven soft robotic systems by customizing the robot parameters for the prior motion planning in tip trajectory following tasks.
| Original language | English |
|---|---|
| Pages (from-to) | 4813-4820 |
| Number of pages | 8 |
| Journal | IEEE Robotics and Automation Letters |
| Volume | 7 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 1 Apr 2022 |
Keywords
- and learning for soft robots
- constrained motion planning
- control
- Modeling
- whole-body motion planning and control
ASJC Scopus subject areas
- Control and Systems Engineering
- Biomedical Engineering
- Human-Computer Interaction
- Mechanical Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications
- Control and Optimization
- Artificial Intelligence