Understanding Compliance Properties of Soft Continuum Robots: from Analytical Model to Model-Based Control

EasyChair Preprint 13839

Abstract

Continuum robots offer continuous deformation and are highly flexible, which is advantageous in applications involving compliant interactions. Moreover, leveraging soft materials to construct elastomer-based continuum robots can further enhance robots' inherent compliance and flexibility, leading to safer robot-environment interactions and enabling variable stiffness behaviour. To utilise the intrinsic compliance of these soft continuum robots, addressing challenges in modelling and controlling their compliant behaviours are of paramount importance. This work contributes to a static compliance modelling and control framework for pneumatic-driven soft continuum robots, to understanding their inherent compliance using analytical models, meanwhile, to achieve model-based compliance control, exclusively relying on regulating the actuation pressure.

Keyphrases: Compliance modelling and control, Soft Continuum Robots, inverse kinematics, medical devices

@booklet{EasyChair:13839,
  author    = {Jialei Shi and Helge Wurdemann},
  title     = {Understanding Compliance Properties of Soft Continuum Robots: from Analytical Model to Model-Based Control},
  howpublished = {EasyChair Preprint 13839},
  year      = {EasyChair, 2024}}