06/04/2021 – 14h00-15h00 – Online
Dynamics of continuum and soft robots: a strain parametrization based approach
Abstract. In this seminar we propose a new dynamic model of Cosserat beams in view of its application to continuum and soft robotics manipulation and locomotion. In contrast to usual approaches, it is based on the non-linear parametrization of the beam shape by its strain fields and their reduction on a functional basis of strain modes. While remaining geometrically exact, the approach provides us with a minimal set of ordinary differential equations in the usual Lagrange matrix form that can be exploited for analysis and control design. Inspired from rigid robotics, the calculation of the matrices of this Lagrangian model is performed with a new reduced inverse Newton-Euler algorithm. To assess the
approach, this Lagrangian model is compared against a well validated finite elements method through several benches of non-linear structural statics and dynamics, as well as applied to the control of a simplified multi-segment continuum arm.
Biography. Frédéric Boyer is with the Department of Automatic Control, IMT-Atlantique, Nantes, France, and the Laboratoire des Sciences du Numérique de Nantes (LS2N). His current research interests include bio-inspired locomotion and underwater electric sensing. Dr. Boyer received the Monpetit Prize from the Academy of Science of Paris in 2007 for his work in dynamics and the French “La Recherche Prize” in 2014, for his works on artificial electric sense. He has coordinated several national projects and one European FP7-FET project on a reconfigurable eel-like robot able to navigate with electric sense.
Practical details. The seminar will take place online, using Microsoft Teams. If you want to attend this seminar (or any of the forthcoming online Automatiques seminars), and if you do not already have access to the AutoSeminar group on Teams, simply send an email and you will be invited. Please specify which email address the invitation must be sent to (this has to be the address associated with your Teams account). You will find the link to the seminar on the « General » AutoSeminar channel on Teams, approximately 15 minutes before the beginning.
The technical side of things: you can use Teams either directly from you web browser or using the « fat client », which is available for most platforms (Windows, Linux, Mac, Android & iOS). We strongly recommend the latter option whenever possible. Please give it a try before the seminar to anticipate potential problems