A Lightweight Simulation Model for Soft Robot's Locomotion and its Application to Trajectory Optimization

Research output: Journal contributionsJournal articlesResearchpeer-review

Standard

A Lightweight Simulation Model for Soft Robot's Locomotion and its Application to Trajectory Optimization. / Schiller, Lars; Seibel, Arthur; Schlattmann, Josef.
In: IEEE Robotics and Automation Letters, Vol. 5, No. 2, 8957491, 01.04.2020, p. 1199-1206.

Research output: Journal contributionsJournal articlesResearchpeer-review

Harvard

APA

Vancouver

Bibtex

@article{5e55a7b49be948b9965c1ef42986e056,
title = "A Lightweight Simulation Model for Soft Robot's Locomotion and its Application to Trajectory Optimization",
abstract = "This letter extends the piecewise constant curvature modeling approach by energy minimization techniques in order to simulate contact with the environment. The new method enables a fast and sufficiently good estimation of the forward kinematics for soft structures whose behavior is mainly determined by boundary conditions. This enables to predict the configuration of such structures for a given reference input, which is demonstrated on a gecko-inspired soft robot. The newly gained simulation capability is then used to find new patterns for straight as well as curved trotting gait. The existing gait pattern for straight gait could be improved by a factor of 1.4, and a new gait pattern for the rotation on the spot could be discovered.",
keywords = "and learning for soft robots, control, Modeling, motion control, soft robot applications, Engineering",
author = "Lars Schiller and Arthur Seibel and Josef Schlattmann",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.",
year = "2020",
month = apr,
day = "1",
doi = "10.1109/LRA.2020.2966396",
language = "English",
volume = "5",
pages = "1199--1206",
journal = "IEEE Robotics and Automation Letters",
issn = "2377-3766",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "2",

}

RIS

TY - JOUR

T1 - A Lightweight Simulation Model for Soft Robot's Locomotion and its Application to Trajectory Optimization

AU - Schiller, Lars

AU - Seibel, Arthur

AU - Schlattmann, Josef

N1 - Publisher Copyright: © 2016 IEEE.

PY - 2020/4/1

Y1 - 2020/4/1

N2 - This letter extends the piecewise constant curvature modeling approach by energy minimization techniques in order to simulate contact with the environment. The new method enables a fast and sufficiently good estimation of the forward kinematics for soft structures whose behavior is mainly determined by boundary conditions. This enables to predict the configuration of such structures for a given reference input, which is demonstrated on a gecko-inspired soft robot. The newly gained simulation capability is then used to find new patterns for straight as well as curved trotting gait. The existing gait pattern for straight gait could be improved by a factor of 1.4, and a new gait pattern for the rotation on the spot could be discovered.

AB - This letter extends the piecewise constant curvature modeling approach by energy minimization techniques in order to simulate contact with the environment. The new method enables a fast and sufficiently good estimation of the forward kinematics for soft structures whose behavior is mainly determined by boundary conditions. This enables to predict the configuration of such structures for a given reference input, which is demonstrated on a gecko-inspired soft robot. The newly gained simulation capability is then used to find new patterns for straight as well as curved trotting gait. The existing gait pattern for straight gait could be improved by a factor of 1.4, and a new gait pattern for the rotation on the spot could be discovered.

KW - and learning for soft robots

KW - control

KW - Modeling

KW - motion control

KW - soft robot applications

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85079282409&partnerID=8YFLogxK

U2 - 10.1109/LRA.2020.2966396

DO - 10.1109/LRA.2020.2966396

M3 - Journal articles

AN - SCOPUS:85079282409

VL - 5

SP - 1199

EP - 1206

JO - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

SN - 2377-3766

IS - 2

M1 - 8957491

ER -

DOI

Recently viewed

Publications

  1. Towards a Dynamic Interpretation of Subjective and Objective Values
  2. Using haar wavelets for fault detection in technical processes
  3. Multidimensional recurrence quantification analysis (MdRQA) for the analysis of multidimensional time-series
  4. Optimization Analysis for an Uncovered Wagon Transportation with an Interactive Animated Simulation-Based Platform for Multidisciplinary Learning
  5. Analysis and Implementation of a Resistance Temperature Estimator Based on Bi-Polynomial Least Squares Method and Discrete Kalman Filter
  6. A simple fuzzy controller for robot manipulators with bounded inputs
  7. Inversion of fuzzy neural networks for the reduction of noise in the control loop
  8. Transformer with Tree-order Encoding for Neural Program Generation
  9. A denoising procedure using wavelet packets for instantaneous detection of pantograph oscillations
  10. Recurrence Quantification Analysis of Processes and Products of Discourse
  11. Integrating Mobile Devices into AAL-Environments using Knowledge based Assistance Systems
  12. Using cross-recurrence quantification analysis to compute similarity measures for time series of unequal length with applications to sleep stage analysis
  13. FaST: A linear time stack trace alignment heuristic for crash report deduplication
  14. Automatic enumeration of all connected subgraphs.
  15. Supporting discourse in a synchronous learning environment
  16. Modelling the Complexity of Measurement Estimation Situations - A Theoretical Framework for the Estimation of Lengths
  17. Authenticity and authentication in language learning
  18. How Much Tracking Is Necessary? - The Learning Curve in Bayesian User Journey Analysis
  19. Towards improved dispatching rules for complex shop floor scenarios - A genetic programming approach
  20. Expertise in research integration and implementation for tackling complex problems
  21. Identification of structure-biodegradability relationships for ionic liquids - clustering of a dataset based on structural similarity
  22. Using augmented video to test in-car user experiences of context analog HUDs
  23. Linux-based Embedded System for Wavelet Denoising and Monitoring of sEMG Signals using an Axiomatic Seminorm
  24. Top-down contingent attentional capture during feed-forward visual processing
  25. Microstructural development of as-cast AM50 during Constrained Friction Processing: grain refinement and influence of process parameters
  26. Distributed robust Gaussian Process regression
  27. Continuous 3D scanning mode using servomotors instead of stepping motors in dynamic laser triangulation
  28. A decoupled MPC using a geometric approach and feedforward action for motion control in robotino
  29. Situated multiplying in primary school
  30. Dynamically changing sequencing rules with reinforcement learning in a job shop system with stochastic influences
  31. Long-term memory predictors of adult language learning at the interface between syntactic form and meaning
  32. Early Detection of Faillure in Conveyor Chain Systems by Wireless Sensor Node