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A Closed Loop Shape Control for Bio-inspired Soft Arms

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Biomimetic and Biohybrid Systems (Living Machines 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10384))

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Abstract

We present a model-based approach for the control of the shape of a tendon-driven soft arm. The soft robotic structure, which is inspired by an octopus arm, has variable section that allows to obtain variable curvature when actuated. The main goal of our control system is to obtain a target curvature at a desired section of the arm. The controller combines input shaping and feedback integral control in order to overcome modeling errors and constant disturbances. Simulations show the coupling between the control loop and a dynamic model of the arm.

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References

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Author information

Authors and Affiliations

  1. The BioRobotics Institute, Scuola Superiore Sant Anna, Polo SantAnna Valdera, Via Rinaldo Piaggio 34, Pontedera, 56025, Pisa, Italy

    Dario Lunni, Matteo Cianchetti, Egidio Falotico & Cecilia Laschi

  2. Center for Micro-BioRobotics, Italian Institute of Technology, Polo SantAnna Valdera, Via Rinaldo Piaggio 34, Pontedera, 56025, Pisa, Italy

    Dario Lunni & Barbara Mazzolai

Authors
  1. Dario Lunni
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  2. Matteo Cianchetti
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  3. Egidio Falotico
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  4. Cecilia Laschi
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  5. Barbara Mazzolai
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Corresponding author

Correspondence to Dario Lunni .

Editor information

Editors and Affiliations

  1. University of Lincoln, Lincoln, United Kingdom

    Michael Mangan

  2. Stanford University, Stanford, California, USA

    Mark Cutkosky

  3. Universitat Pompeu Fabra, Barcelona, Spain

    Anna Mura

  4. Universitat Pompeu Fabra, Barcelona, Spain

    Paul F.M.J. Verschure

  5. University of Sheffield, Sheffield, United Kingdom

    Tony Prescott

  6. Bristol University, Bristol, United Kingdom

    Nathan Lepora

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© 2017 Springer International Publishing AG

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Lunni, D., Cianchetti, M., Falotico, E., Laschi, C., Mazzolai, B. (2017). A Closed Loop Shape Control for Bio-inspired Soft Arms. In: Mangan, M., Cutkosky, M., Mura, A., Verschure, P., Prescott, T., Lepora, N. (eds) Biomimetic and Biohybrid Systems. Living Machines 2017. Lecture Notes in Computer Science(), vol 10384. Springer, Cham. https://doi.org/10.1007/978-3-319-63537-8_51

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  • DOI: https://doi.org/10.1007/978-3-319-63537-8_51

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-63536-1

  • Online ISBN: 978-3-319-63537-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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