Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator

Lukas Lindenroth; Junghwan Back; Adrian Schoisengeier; Yohan Noh; Helge Wurdemann; Kaspar Althoefer; Hongbin Liu

doi:10.1109/IROS.2016.7759383

Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator

Lukas Lindenroth, Junghwan Back, Adrian Schoisengeier, Yohan Noh, Helge Wurdemann, Kaspar Althoefer, Hongbin Liu

Department of Informatics

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

38 Citations (Scopus)

Abstract

This work investigates the applicability of stiffness-based modelling in soft robotics manipulation. The methodology is introduced and applied to model a soft robotics manipulator as single 3d Timoshenko beam element. The model is then utilized to solve the forward kinematics problem for the manipulator. The algorithm is validated comparing the simulated deflection with the deflection of the physical manipulator for two defined pressure sequences. It is shown that the model behaves in a highly similar fashion in comparison to the manipulator. For both trajectories the maximum position error is close to 6 mm while the error in orientation not more than 18°. The methodology as described in this work reveals great applicability to the field of soft robots being limited only by the stiffness matrix assembly for the given system. Implementations of inverse kinematics and the effects of external force applications are effectively integrable in the described theory.

Original language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2458-2463
Number of pages	6
Volume	2016-November
ISBN (Print)	9781509037629
DOIs	https://doi.org/10.1109/IROS.2016.7759383
Publication status	Published - 28 Nov 2016
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of Duration: 9 Oct 2016 → 14 Oct 2016

Conference

Conference	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Country/Territory	Korea, Republic of
City	Daejeon
Period	9/10/2016 → 14/10/2016

Access to Document

10.1109/IROS.2016.7759383

Cite this

Lindenroth, L., Back, J., Schoisengeier, A., Noh, Y., Wurdemann, H., Althoefer, K., & Liu, H. (2016). Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2016-November, pp. 2458-2463). Article 7759383 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759383

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Lindenroth, L , Back, J, Schoisengeier, A, Noh, Y, Wurdemann, H, Althoefer, K & Liu, H 2016, Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator. in IEEE International Conference on Intelligent Robots and Systems. vol. 2016-November, 7759383, Institute of Electrical and Electronics Engineers Inc., pp. 2458-2463, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 9/10/2016. https://doi.org/10.1109/IROS.2016.7759383

Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator. / Lindenroth, Lukas ; Back, Junghwan; Schoisengeier, Adrian et al.
IEEE International Conference on Intelligent Robots and Systems. Vol. 2016-November Institute of Electrical and Electronics Engineers Inc., 2016. p. 2458-2463 7759383.

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

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AU - Schoisengeier, Adrian

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AU - Althoefer, Kaspar

AU - Liu, Hongbin

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Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator

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