Name
Title | ||
|---|---|---|
Induced Vibrations of Soft Robotic Manipulators for Controller Design and Stiffness Estimation |
Abstract | ||
|---|---|---|
Soft robotic systems are primarily characterized by their low stiffness properties. However, for these high dimension nonlinear systems, it becomes increasingly difficult to define and estimate stiffness properties. This paper presents a methodology to estimate the dominant compliance of a soft robotic manipulator using only motion information. We show how this information can be used for input shaping to suppress unwanted vibrations during point to point motion. Furthermore the methodology can be used to assess manipulator design and stiffening mechanisms. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/BIOROB.2018.8488130 | 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) |
Keywords | Field | DocType |
high dimension nonlinear systems,soft robotic manipulator,unwanted vibrations,manipulator design,stiffening mechanisms,induced vibrations,controller design,stiffness estimation,soft robotic systems,low stiffness properties,point to point motion | Nonlinear system,Kinematics,Stiffening,Stiffness,Control theory,Computer science,Soft robotics,Vibration,Input shaping,Actuator | Conference |
ISSN | ISBN | Citations |
2155-1774 | 978-1-5386-8184-8 | 0 |
PageRank | References | Authors |
0.34 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Thomas George | 1 | 21 | 7.90 |
| Mariangela Manti | 2 | 29 | 4.04 |
| Egidio Falotico | 3 | 85 | 18.05 |
| Matteo Cianchetti | 4 | 260 | 30.00 |
| Cecilia Laschi | 5 | 681 | 99.92 |