Academic Journal
Cosserat-Rod-Based Dynamic Modeling of Soft Slender Robot Interacting With Environment
| العنوان: | Cosserat-Rod-Based Dynamic Modeling of Soft Slender Robot Interacting With Environment |
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| المؤلفون: | Xun, Lingxiao, Zheng, Gang, Kruszewski, Alexandre |
| المساهمون: | Deformable Robots Simulation Team (DEFROST), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Centre de Recherche Réseau Image SysTème Architecture et MuLtimédia (CRISTAL), École Nationale des Sciences de l'Informatique Manouba (ENSI), Université de la Manouba Tunisie (UMA)-Université de la Manouba Tunisie (UMA), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Centrale Lille, Institut National de Recherche en Informatique et en Automatique (Inria), ANR-19-CE19-0026,ROBOCOP,robotisation de l'implant cochléaire(2019), ANR-20-CE33-0001,COSSEROOTS,Théorie Cosserat pour les robots élancés contrôlés en déformation(2020) |
| المصدر: | ISSN: 1552-3098. |
| بيانات النشر: | HAL CCSD IEEE |
| سنة النشر: | 2024 |
| مصطلحات موضوعية: | Soft slender robot Cosserat dynamics frcition contact interaction numerical optimization, Soft slender robot, Cosserat, dynamics, frcition, contact, interaction, numerical optimization, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering |
| الوصف: | International audience ; Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge because of the non-linearity of deformation and the non-smooth property of the contacts. In this work, starting from a piece-wise local strain field assumption, we propose a nonlinear dynamic model for soft robot via Cosserat rod theory using Newtonian mechanics which handles the frictional contact with environment and transfer them into the nonlinear complementary constraint (NCP) formulation. Moreover, we smooth both the contact and friction constraints in order to convert the inequality equations of NCP to the smooth equality equations. The proposed model allows us to compute the dynamic deformation and frictional contact force under common optimization framework in real time when the soft slender robot interacts with other rigid or soft bodies. In the end, the corresponding experiments are carried out which valid our proposed dynamic model. |
| نوع الوثيقة: | article in journal/newspaper |
| اللغة: | English |
| DOI: | 10.1109/TRO.2024.3386393 |
| الاتاحة: | https://inria.hal.science/hal-04801027 https://inria.hal.science/hal-04801027v1/document https://inria.hal.science/hal-04801027v1/file/Tro.pdf https://doi.org/10.1109/TRO.2024.3386393 |
| Rights: | http://creativecommons.org/licenses/by/ ; info:eu-repo/semantics/OpenAccess |
| رقم الانضمام: | edsbas.D3C936F0 |
| قاعدة البيانات: | BASE |
| DOI: | 10.1109/TRO.2024.3386393 |
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