Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator
Andrew D. Marchese, Russ Tedrake, Daniela Rus
Abstract
The goal of this work is to develop a soft robotic manipulation system that is capable of autonomous, dynamic, and safe interactions with humans and its environment. First, we develop a dynamic model for a multi-body fluidic elastomer manipulator that is composed entirely from soft rubber and subject to the self-loading effects of gravity. Then, we present a strategy for independently identifying all unknown components of the system: the soft manipulator, its distributed fluidic elastomer actuators, as well as drive cylinders that supply fluid energy. Next, using this model and trajectory optimization techniques we find locally optimal open-loop policies that allow the system to perform dynamic maneuvers we call grabs. In 37 experimental trials with a physical prototype, we successfully perform a grab 92% of the time. By studying such an extreme example of a soft robot, we can begin to solve hard problems inhibiting the mainstream use of soft machines.
BibTeX
@inproceedings{icra2015_dynamicsandtraje,
title = {Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator},
author = {Andrew D. Marchese and Russ Tedrake and Daniela Rus},
booktitle = {ICRA 2015},
year = {2015}
}