{"title":"软体机器人的三维形状控制","authors":"Jiawei Zhu, Hesheng Wang, Weidong Chen, Le Xie","doi":"10.1109/ICCA.2017.8003091","DOIUrl":null,"url":null,"abstract":"A three-dimensional shape control algorithm for soft robot is proposed. Considering the characteristics of the soft robot with infinite degrees of freedom, the traditional control method for rigid robot is not applicable. Besides, the shape of the soft robot generated by four driven ropes changing is three-dimensional, so a complete description of the soft robot shape parameters is presented. The relation between soft robot shape parameters and driving cables length is deduced. Based on this expression, a shape control algorithm is designed and its stability is proved applying Lyapunov method. The simulation and verification experimental results indicate the stability and reliability of the proposed algorithm.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"The three-dimensional shape control for a soft robot\",\"authors\":\"Jiawei Zhu, Hesheng Wang, Weidong Chen, Le Xie\",\"doi\":\"10.1109/ICCA.2017.8003091\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A three-dimensional shape control algorithm for soft robot is proposed. Considering the characteristics of the soft robot with infinite degrees of freedom, the traditional control method for rigid robot is not applicable. Besides, the shape of the soft robot generated by four driven ropes changing is three-dimensional, so a complete description of the soft robot shape parameters is presented. The relation between soft robot shape parameters and driving cables length is deduced. Based on this expression, a shape control algorithm is designed and its stability is proved applying Lyapunov method. The simulation and verification experimental results indicate the stability and reliability of the proposed algorithm.\",\"PeriodicalId\":379025,\"journal\":{\"name\":\"2017 13th IEEE International Conference on Control & Automation (ICCA)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 13th IEEE International Conference on Control & Automation (ICCA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCA.2017.8003091\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 13th IEEE International Conference on Control & Automation (ICCA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCA.2017.8003091","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The three-dimensional shape control for a soft robot
A three-dimensional shape control algorithm for soft robot is proposed. Considering the characteristics of the soft robot with infinite degrees of freedom, the traditional control method for rigid robot is not applicable. Besides, the shape of the soft robot generated by four driven ropes changing is three-dimensional, so a complete description of the soft robot shape parameters is presented. The relation between soft robot shape parameters and driving cables length is deduced. Based on this expression, a shape control algorithm is designed and its stability is proved applying Lyapunov method. The simulation and verification experimental results indicate the stability and reliability of the proposed algorithm.
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