Effect of base rotation on the controllability of a redundant soft robotic arm

Hiroki Shigemune, Vito Cacucciolo, Matteo Cianchetti, Hideyuki Sawada, Shuji Hashimoto, Cecilia Laschi

研究成果: Conference contribution

抜粋

Soft robotic arms have gained popularity in the recent years because of their dexterity, robustness and safe interaction with humans. However, since these arms are subject to non-linear mechanics and are intrinsically under-actuated, their control still present many challenges. Octopus arms are one of the most popular biological models for soft robotics. It is known that the octopus reaching movement consists in two steps: (1) the rotation of the arm's base towards the target, and (2) the extension of the arm to reach the target. From a robotics point of view, the rotation of the base adds one additional degree of freedom to an already hyper-redundant system. Therefore, its role in the effectiveness of the control is ambiguous. In this work, we investigate the role of the base rotation for learning an effective reaching strategy. We conduct numerical experiments based on a mathematical model of the mechanics of the octopus arm in water and a simple neural network enabling to encode the control strategy through optimization learning. The network node corresponding to the base rotation is switched on or off for comparison. We test the reaching success rate with and without base rotation with targets in various positions. The results show that the addition of the base rotation can be highly beneficial or even detrimental, based on the position of the target. Nonetheless, globally the addition of base rotation affects the control strategy and expand the reachable regions.

元の言語English
ホスト出版物のタイトル2018 IEEE International Conference on Soft Robotics, RoboSoft 2018
出版者Institute of Electrical and Electronics Engineers Inc.
ページ350-355
ページ数6
ISBN(電子版)9781538645161
DOI
出版物ステータスPublished - 2018 7 5
外部発表Yes
イベント1st IEEE International Conference on Soft Robotics, RoboSoft 2018 - Livorno, Italy
継続期間: 2018 4 242018 4 28

出版物シリーズ

名前2018 IEEE International Conference on Soft Robotics, RoboSoft 2018

Conference

Conference1st IEEE International Conference on Soft Robotics, RoboSoft 2018
Italy
Livorno
期間18/4/2418/4/28

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Optimization
  • Modelling and Simulation
  • Mechanical Engineering

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  • これを引用

    Shigemune, H., Cacucciolo, V., Cianchetti, M., Sawada, H., Hashimoto, S., & Laschi, C. (2018). Effect of base rotation on the controllability of a redundant soft robotic arm. : 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018 (pp. 350-355). (2018 IEEE International Conference on Soft Robotics, RoboSoft 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOSOFT.2018.8404944