Login | Register

Kinematics of Soft Robots by Geometric Computing


Kinematics of Soft Robots by Geometric Computing

Fang, Guoxin, Matte, Christopher-Denny, Scharff, Rob B. N., Kwok, Tsz-Ho and Wang, Charlie C. L. (2020) Kinematics of Soft Robots by Geometric Computing. IEEE Transactions on Robotics, 36 (4). pp. 1272-1286.

[thumbnail of TRO20_SoftRobot.pdf]
Text (application/pdf)
TRO20_SoftRobot.pdf - Accepted Version
Restricted to Registered users only
Available under License Spectrum Terms of Access.

Official URL: https://doi.org/10.1109/TRO.2020.2985583


Robots fabricated with soft materials can provide higher flexibility and, thus, better safety while interacting in unpredictable situations. However, the usage of soft material makes it challenging to predict the deformation of a continuum body under actuation and, therefore, brings difficulty to the kinematic control of its movement. In this article, we present a geometry-based framework for computing the deformation of soft robots within the range of linear material elasticity. After formulating both manipulators and actuators as geometry elements, deformation can be efficiently computed by solving a constrained optimization problem. Because of its efficiency, forward and inverse kinematics for soft manipulators can be solved by an iterative algorithm with a low computational cost. Meanwhile, components with multiple materials can also be geometrically modeled in our framework with the help of a simple calibration. Numerical and physical experimental tests are conducted on soft manipulators driven by different actuators with large deformation to demonstrate the performance of our approach.

Divisions:Concordia University > Gina Cody School of Engineering and Computer Science > Mechanical, Industrial and Aerospace Engineering
Item Type:Article
Authors:Fang, Guoxin and Matte, Christopher-Denny and Scharff, Rob B. N. and Kwok, Tsz-Ho and Wang, Charlie C. L.
Journal or Publication:IEEE Transactions on Robotics
Date:August 2020
Digital Object Identifier (DOI):doi10.1109/TRO.2020.2985583
ID Code:992241
Deposited By: Tsz Ho Kwok
Deposited On:01 Jun 2023 15:42
Last Modified:01 Jun 2023 15:42
All items in Spectrum are protected by copyright, with all rights reserved. The use of items is governed by Spectrum's terms of access.

Repository Staff Only: item control page

Downloads per month over past year

Research related to the current document (at the CORE website)
- Research related to the current document (at the CORE website)
Back to top Back to top