Robot piloting based on FEM simulation

The modeling method and simulation described previously to pilot the robot was used. The inverse model is computed in real-time to obtain the actuation required to orientate and position the manipulator as desired. This position is controlled by moving manually a control point attached to the top platform in the simulation.

The first test was conducted using only cable actuation.

In the second test, antagonistic (both cable and pneumatics) actuation was implemented in the simulation.

Bibliography

Robinson et al. (1999) Continuum robots-a state of the art

Walker et al. (2013) Continuous backbone “continuum” robot manipulators

McMahan et al. (2005) Design and implementation of a multi-section continuum robot: Air-Octor

Neppalli et al. (2007) Design, construction, and analysis of a continuum robot

Bosman et al. (2015) Domain decomposition approach for FEM quasistatic modeling and control of Continuum Robots with rigid vertebras

Duriez, et al. (2008) Contact skinning

Duriez et al. (2013) Control of elastic soft robots based on real-time finite element method

Contributors

Thor Bieze

Frédérick Largillière

Sandra Hage Chehade

Mario Sanz Lopez

Christian Duriez