FEM-Based Exterior Workspace Boundary Estimation for Soft Robots via Optimization

被引：2
|
作者：
Amehri, Walid [2 ]
Zheng, Gang [1 ,2 ]
Kruszewski, Alexandre [2 ]
机构：
[1] Foshan Univ, Sch Math & Big Data, Foshan 528000, Peoples R China
[2] Univ Lille, INRIA, CNRS, Cent Lille,UMR 9189 CRIStAL, F-59000 Lille, France
来源：
IEEE ROBOTICS AND AUTOMATION LETTERS | 2022年 / 7卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Soft robotics; Finite element analysis; Robots; Estimation; End effectors; Actuators; Optimization; workspace boundary; constrained optimization; DESIGN;
D O I：
10.1109/LRA.2022.3147890
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This letter investigates the exterior workspace boundary of a soft robot with a certain configuration controlled by equipped bounded actuators. To achieve this, we implement an optimization-based approach on the studied soft robot which has been modeled by the Finite Element Method (FEM). Finally, we provide numerical simulations of various configurations to demonstrate the validity of the suggested technique, which, in comparison to the conventional forward method, may considerably minimize the complexity of exterior workspace boundary estimation.
引用
收藏
页码：3672 / 3678
页数：7
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