Naslov
Prediction of the behavior of a pneumatic soft robot based on Koopman operator theory

Autori
Kamenar, Ervin ; Črnjarić-Žic, Nelida ; Haggerty, David ; Zelenika, Saša ; Hawkes, Elliot W. ; Mezić, Igor

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 43rd Mipro International Convention / Skala, Karolj - Rijeka : Hrvatska udruga za informacijsku i komunikacijsku tehnologiju, elektroniku i mikroelektroniku - MIPRO, 2020, 1417-1421

Skup
43rd International Convention on Information and Communication Technology, Electronics and Microelectronics (MIPRO 2020)

Mjesto i datum
Opatija, Hrvatska, 28.09.2020. - 02.10.2020

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
soft robots ; Koopman operator ; nonlinear lifting

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo, Temeljne tehničke znanosti, Interdisciplinarne tehničke znanosti

POVEZANOST RADA