Force Estimation at the Bionic Soft Arm’s Tool-center-point during the Interaction with the Environment
Samuel Pilch, Daniel Klug, Oliver Sawodny
Abstract
Soft continuum robots enable new application areas in contrast to standard rigid robots, such as interaction with a varying environment. Due to their compliant continuous structure, they are inherently safe and adaptive to environmental conditions. In this paper, the interaction with the environment is performed at the tool-center-point of a soft continuum manipulator and is realized by a hybrid force-position control. For this, a force estimation model is derived to substitute the force sensor at the tool-center-point. The force estimation is probabilistic and relies on normal distributions considering model parameters and deviations from model identification of the soft continuum robot. It also provides a qualitative measure for the contact estimation. This paper first presents the probabilistic force estimation model and then shows the hybrid force-position control using the presented model. From the results, it is concluded that force sensing is replaceable for the environment interaction.
BibTeX
@inproceedings{icra2024_forceestimationa,
title = {Force Estimation at the Bionic Soft Arm’s Tool-center-point during the Interaction with the Environment},
author = {Samuel Pilch and Daniel Klug and Oliver Sawodny},
booktitle = {ICRA 2024},
year = {2024}
}