"Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing"
Barnabas Gavin Cangan*, Stefan Escaida Navarro*, Bai Yang, Yu Zhang,
Christian Duriez, Robert K. Katzschmann
arxiv.org/abs/2206.11626
*denotes equal contribution
SoPrA is a multi-segment soft continuum robotic arm composed of compliant deformable materials and fiber-reinforced pressurized actuation chambers. In this paper, we use the soft-robot modeling capabilities of the SOFA framework to build a detailed FEM model, including an orientation sensor model that generalizes to IMUs as well as curvature sensors.
The model is used to establish a state observer for the manipulator with model parameters calibrated to match imperfections of the manual fabrication process using physical experiments. We then solve a quadratic programming inverse dynamics problem to compute the components of external force that explain the pose error.
Our experiments show an average force estimation error of around 1.2%. As the proposed methods are generic, these results are encouraging for building soft robots exhibiting complex, reactive, sensor-based behavior that can be deployed in human-centered environments.
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