Preliminary Analysis of a Lightweight and Deployable Soft Robot for Space Applications Article Swipe
Mario Troise
,
Matteo Gaidano
,
Pierpaolo Palmieri
,
Stefano Mauro
·
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.3390/app11062558
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.3390/app11062558
The rising interest in soft robotics, combined to the increasing applications in the space industry, leads to the development of novel lightweight and deployable robotic systems, that could be easily contained in a relatively small package to be deployed when required. The main challenges for soft robotic systems are the low force exertion and the control complexity. In this manuscript, a soft manipulator concept, having inflatable links, is introduced to face these issues. A prototype of the inflatable link is manufactured and statically characterized using a pseudo-rigid body model on varying inflation pressure. Moreover, the full robot model and algorithms for the load and pose estimation are presented. Finally, a control strategy, using inverse kinematics and an elastostatic approach, is developed. Experimental results provide input data for the control algorithm, and its validity domain is discussed on the basis of a simulation model. This preliminary analysis puts the basis of future advancements in building the robot prototype and developing dynamic models and robust control.
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Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/app11062558
- https://www.mdpi.com/2076-3417/11/6/2558/pdf?version=1616767764
- OA Status
- gold
- Cited By
- 15
- References
- 26
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W3138634296
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W3138634296Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.3390/app11062558Digital Object Identifier
- Title
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Preliminary Analysis of a Lightweight and Deployable Soft Robot for Space ApplicationsWork title
- Type
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articleOpenAlex work type
- Language
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enPrimary language
- Publication year
-
2021Year of publication
- Publication date
-
2021-03-12Full publication date if available
- Authors
-
Mario Troise, Matteo Gaidano, Pierpaolo Palmieri, Stefano MauroList of authors in order
- Landing page
-
https://doi.org/10.3390/app11062558Publisher landing page
- PDF URL
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https://www.mdpi.com/2076-3417/11/6/2558/pdf?version=1616767764Direct link to full text PDF
- Open access
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YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
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https://www.mdpi.com/2076-3417/11/6/2558/pdf?version=1616767764Direct OA link when available
- Concepts
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Inflatable, Robot, Computer science, Control engineering, Inverse kinematics, Kinematics, Robotics, Simulation, Engineering, Artificial intelligence, Mechanical engineering, Physics, Classical mechanicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
15Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 2, 2024: 4, 2023: 2, 2022: 5, 2021: 2Per-year citation counts (last 5 years)
- References (count)
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26Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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