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FEM-based Soft Robotic Control Framework for Intracavitary Navigation

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Title: FEM-based Soft Robotic Control Framework for Intracavitary Navigation
Authors: Lee, K-H
Leong, MCW
Chow, MCK
Fu, H-C
Luk, W
Sze, K-Y
Yeung, C-K
Kwok, K-W
Item Type: Conference Paper
Abstract: Bio-inspired robotic structure composed of soft actuation units has attracted increasing research interests in its potential and capacity of complying with unstructured and dynamic environment, as well as providing safe interaction with human; however, this inevitably poses technical challenging to achieve steady, reliable control due to the remarkable non-linearity of its kinematics and dynamics. To resolve this challenge, we propose a novel control framework that can characterize the kinematics of a soft continuum robot through the hyper-elastic Finite-element modeling (FEM). This enables frequent updates of the Jacobian mapping from the user motion input to the end-effector's point of view. Experimental validation has been conducted to show the feasibility of controlling the soft robot for intracavitary path following. This could be the first success to demonstrate the perspectives of achieving stable, accurate and effective manipulation under large change of robot morphology without having to deduce its analytical model. It is anticipated to draw further extensive attention on resolving the bottleneck against the application of FEM, namely its intensive computation.
Issue Date: 12-Mar-2018
Date of Acceptance: 14-Jul-2017
URI: http://hdl.handle.net/10044/1/61569
DOI: https://dx.doi.org/10.1109/RCAR.2017.8311828
Publisher: IEEE
Start Page: 11
End Page: 16
Journal / Book Title: 2017 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (RCAR)
Copyright Statement: © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor/Funder: Commission of the European Communities
Engineering & Physical Science Research Council (E
Engineering & Physical Science Research Council (EPSRC)
Funder's Grant Number: 671653
516075101 (EP/N031768/1)
EP/P010040/1
Conference Name: IEEE International Conference on Real-time Computing and Robotics (RCAR)
Keywords: Science & Technology
Technology
Computer Science, Artificial Intelligence
Engineering, Electrical & Electronic
Robotics
Computer Science
Engineering
Finite-element modeling (FEM)
Soft Robot Motion Control
CONTINUUM MANIPULATORS
MODELS
Publication Status: Published
Start Date: 2017-07-14
Finish Date: 2017-07-18
Conference Place: Okinawa, JAPAN
Online Publication Date: 2018-03-12
Appears in Collections:Faculty of Engineering
Computing