Walid Amehri

2 accepted papers

2022

FEM-Based Exterior Workspace Boundary Estimation for Soft Robots via Optimization

Walid Amehri, Gang Zheng, Alexandre Kruszewski

RA-L 2022

This letter investigates the exterior workspace boundary of a soft robot with a certain configuration controlled by equipped bounded actuators. To achieve this, we implement an optimization-based approach on the studied soft robot which has been modeled by the Finite Element Method (FEM). Finally, w

Cited by 4 Source ↗Scholar ↗

2021

Workspace Boundary Estimation for Soft Manipulators Using a Continuation Approach

Walid Amehri, Gang Zheng, Alexandre Kruszewski

RA-L 2021

Considering a soft manipulator configuration, controlled via installed bounded actuators, this paper addresses the end-effector workspace estimation problem for such a soft robot. For this, the Discrete Cosserat method is adopted to deduce the mathematical model of soft manipulators, based on which

Cited by 5 Source ↗Scholar ↗