Prediction of the behavior of a pneumatic soft robot based on Koopman operator theory (CROSBI ID 694951)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kamenar, Ervin ; Črnjarić-Žic, Nelida ; Haggerty, David ; Zelenika, Saša ; Hawkes, Elliot W. ; Mezić, Igor
engleski
Prediction of the behavior of a pneumatic soft robot based on Koopman operator theory
Thanks to their flexibility, soft robotic devices offer critical advantages over rigid robots, allowing adaptation to uncertainties in the environment. As such, soft robots enable various intriguing applications, including human-safe interaction devices, soft active rehabilitation devices, and soft grippers for pick-and-place tasks in industrial environments. In most cases, soft robots use pneumatic actuation to inflate the channels in a compliant material to obtain the movement of the structure. However, due to their flexibility and nonlinear behavior, as well as the compressibility of air, controlled movements of the soft robotic structure are difficult to attain. Obtaining physically-based mathematical models, which would enable the development of suitable control approaches for soft robots, constitutes thus a critical challenge in the field. The aim of this work is, therefore, to predict the movement of a pneumatic soft robot by using a data-driven approach based on the Koopman operator framework. The Koopman operator allows simplifying a nonlinear system by “lifting” its dynamics into a higher dimensional space, where its behavior can be accurately approximated by a linear model, thus allowing a significant reduction of the complexity of the design of the resulting controllers.
soft robots ; Koopman operator ; nonlinear lifting
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Podaci o prilogu
1417-1421.
2020.
objavljeno
Podaci o matičnoj publikaciji
Skala, Karolj
Rijeka: Hrvatska udruga za informacijsku i komunikacijsku tehnologiju, elektroniku i mikroelektroniku - MIPRO
1847-3938
1847-3946
Podaci o skupu
MIPRO 2020
predavanje
28.09.2020-02.10.2020
Opatija, Hrvatska