#  Robot piloting based on FEM simulation 

 



 ##  

  expand\_more  

 
  

 

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](/publications/continuum-robots-state-art?admin_panel=1)

Walker et al. (2013) [Continuous backbone “continuum” robot manipulators](/publications/continuous-backbone-%E2%80%9Ccontinuum%E2%80%9D-robot-manipulators?admin_panel=1)

McMahan et al. (2005) [Design and implementation of a multi-section continuum robot: Air-Octor](/publications/design-and-implementation-multi-section-continuum-robot-air-octor?admin_panel=1)

Neppalli et al. (2007) [Design, construction, and analysis of a continuum robot](/publications/design-construction-and-analysis-continuum-robot?admin_panel=1)

Bosman et al. (2015) [Domain decomposition approach for FEM quasistatic modeling and control of Continuum Robots with rigid vertebras](/publications/domain-decomposition-approach-fem-quasistatic-modeling-and-control?admin_panel=1)

Duriez, et al. (2008) [Contact skinning](/publications/contact-skinning?admin_panel=1)

Duriez et al. (2013) [Control of elastic soft robots based on real-time finite element method](/publications/control-elastic-soft-robots-based-real-time-finite-element-method?admin_panel=1)

### Contributors

Thor Bieze

Frédérick Largillière

Sandra Hage Chehade

Mario Sanz Lopez

Christian Duriez