長さ変化結合行列を用いたHSA連続体ロボットの区分定曲率モデル
Kinematic Modeling of Handed Shearing Auxetics via Piecewise Constant Curvature
HSA構造を2x2配列で用いた連続体ロボットに対し、モータ角度と長さ変化を結ぶ結合行列で区分定曲率モデルを拡張し、位置・姿勢を高精度に予測できる運動学モデルを提案した。
著者: Aman Garg, Ian Good, Daniel Revier, Kevin Airis, Jeffrey Lipton
分類: cs.RO
原文アブストラクト
Handed Shearing Auxetics (HSA) are a promising technique for making motor-driven, soft, continuum robots. Many potential applications from inspection tasks to solar tracking require accurate kinematic models to predict the position and orientation of these structures. Currently there are no models for HSA based continuum platforms. To address this gap we propose to adapt Piecewise Constant Curvature (PCC) Models using a length change coupling matrix. This models the interaction of HSA structures in a 2x2 array. The coupling matrix maps the change in motor angles to length changes and defines the configuration space in our modified PCC Model. We evaluate our model on a composite movement encompassing bending, extension and compression behavior. Our model achieves a positional accuracy with mean error of 5.5mm or 4.5% body length and standard deviation of 1.72mm. Further, we achieve an angular accuracy with mean error of -2.8$^\circ$ and standard deviation of 1.9$^\circ$.
