Constrained Motion Planning of A Cable-Driven Soft Robot With Compressible Curvature Modeling Article Swipe
Jiewen Lai
,
Bo Lu
,
Qingxiang Zhao
,
Henry K. Chu
·
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2106.08250
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2106.08250
A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable manipulator-obstacle collision. Those constraints require rational planning of the robot motion. In this work, we derived the compressible curvature kinematics of a cable-driven soft robot which takes the compressible soft segment into account. The motion planning of the soft robot for a trajectory tracking task in constrained conditions, including fixed orientation end-effector and manipulator-obstacle collision avoidance, has been investigated. The inverse solution of cable actuation was formulated as a damped least-square optimization problem and iteratively computed off-line. The performance of trajectory tracking and the obedience to constraints were evaluated via the simulation we made open-source, as well as the prototype experiments. The method can be generalized to the similar multisegment cable-driven soft robotic systems by customizing the robot parameters for the prior motion planning of the manipulator.
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2106.08250
- https://arxiv.org/pdf/2106.08250
- OA Status
- green
- References
- 25
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W3172491059
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W3172491059Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2106.08250Digital Object Identifier
- Title
-
Constrained Motion Planning of A Cable-Driven Soft Robot With Compressible Curvature ModelingWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2021Year of publication
- Publication date
-
2021-06-15Full publication date if available
- Authors
-
Jiewen Lai, Bo Lu, Qingxiang Zhao, Henry K. ChuList of authors in order
- Landing page
-
https://arxiv.org/abs/2106.08250Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2106.08250Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2106.08250Direct OA link when available
- Concepts
-
Inverse kinematics, Robot, Motion planning, Robot end effector, Kinematics, Control theory (sociology), Computer science, Trajectory, Obstacle avoidance, Simulation, Engineering, Artificial intelligence, Mobile robot, Physics, Classical mechanics, Astronomy, Control (management)Top concepts (fields/topics) attached by OpenAlex
- Cited by
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0Total citation count in OpenAlex
- References (count)
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25Number of works referenced by this work
- Related works (count)
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10Other works algorithmically related by OpenAlex
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| referenced_works | https://openalex.org/W2147492425, https://openalex.org/W1977785674, https://openalex.org/W2124992704, https://openalex.org/W1925606516, https://openalex.org/W1584054286, https://openalex.org/W2101667962, https://openalex.org/W2999072533, https://openalex.org/W2184993170, https://openalex.org/W1987862454, https://openalex.org/W2561565237, https://openalex.org/W2328731921, https://openalex.org/W2993799976, https://openalex.org/W2119343887, https://openalex.org/W2101797976, https://openalex.org/W3090929015, https://openalex.org/W2142271163, https://openalex.org/W3176339485, https://openalex.org/W2926374707, https://openalex.org/W2335997780, https://openalex.org/W2113265921, https://openalex.org/W2621263557, https://openalex.org/W1515749184, https://openalex.org/W2995712318, https://openalex.org/W3127111062, https://openalex.org/W3162343675 |
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