FEM-based Reachable Workspace Estimation of Soft Robots using an Interval Analysis approach - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Journal Articles Soft Robotics Year : 2022

FEM-based Reachable Workspace Estimation of Soft Robots using an Interval Analysis approach

Abstract

Considering a soft robot with installed bounded actuators, this paper studies the reachable workspace estimation problem for a pre-chosen point of interest. To this aim, the method of nite-element has been used to obtain the static model of the studied robot and two methods are proposed (forward one which is based on Newton iterative method and forward-backward one which is based on interval analysis techniques) to study this estimation problem. Various simulations with di erent con guration scenarios are provided to show the e ectiveness of the forward-backward approach which can largely reduce the exploration time, compared to the forward method.
Fichier principal
Vignette du fichier
SoRo.pdf (8.89 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-03913432 , version 1 (27-12-2022)

Identifiers

  • HAL Id : hal-03913432 , version 1

Cite

Walid Amehri, Gang Zheng, Alexandre Kruszewski. FEM-based Reachable Workspace Estimation of Soft Robots using an Interval Analysis approach. Soft Robotics, In press. ⟨hal-03913432⟩
98 View
61 Download

Share

Gmail Facebook X LinkedIn More