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Domain decomposition approach for FEM quasistatic modeling and control of Continuum Robots with rigid vertebras
2015
2015 IEEE International Conference on Robotics and Automation (ICRA)
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The modeling relies on a discretization of the continuum robots using 6 DoFs Frames along the structure of the robot that is compatible with the modeling of a sequence of rigid vertebras. ...
This paper presents a development of a new method dedicated to the modeling and control of Continuum Robots, based on the Finite Element Method (FEM) using quasi-static assumption. ...
ACKNOWLEDGMENTS The authors would like to thank Eulalie Coevoet for her valuable efforts in programming the solver used in the simulations. ...
doi:10.1109/icra.2015.7139803
dblp:conf/icra/BosmanBLSMD15
fatcat:bhrflrribzbz7frwygldg3hmhq
Finite Element Method-Based Kinematics and Closed-Loop Control of Soft, Continuum Manipulators
2018
Soft Robotics
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Finite element method-based kinematics and closed-loop control of soft, continuum manipulators. soft robotics, Mary Ann Liebert, Inc., In press. hal-01745625 The authors are affiliated to ...
This research was part of the project COMOROS supported by ANR (Tremplin-ERC) and the Conseil Régional Hautde-France and the European Union through the European Regional Development Fund (ERDF). ...
A popular approach to model continuum robots has been the modification of methods already established to model rigid manipulators. ...
doi:10.1089/soro.2017.0079
pmid:29658827
fatcat:7trye3xlnndcjjfm6wfsguo4fi
Kinematic modeling and observer based control of soft robot using real-time Finite Element Method
2016
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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This paper aims at providing a novel approach to modeling and controlling soft robots. ...
A closed-loop controller for position control of soft robot is designed based on the discrete-time model with feedback signal being extracted by means of visual servoing. ...
Using a domain decomposition strategy, this control method is modified to control continuum robots with rigid vertebras [11] . ...
doi:10.1109/iros.2016.7759810
dblp:conf/iros/ZhangDKLD16
fatcat:ibrs3tlclremfab2h4ziphx2xm
Proceedings Of The 15Th International Conference On Biomedical Applications Of Electrical Impedance Tomography
[article]
2015
Zenodo
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This document is the collection of papers accepted for presentation at the 15th International Conference on Biomedical Applications of Electrical Impedance Tomography. ...
Collected work: (c) 2014 Andy Adler and Bartłomiej Grychtol. All rights reserved. Cover design: Bartłomiej Grychtol Photo credit: (c) 1000 Islands Photo Art Inc. / Ian Coristine ...
However, the model is limited by the static nature of the lung and heart structures. ...
doi:10.5281/zenodo.17749
fatcat:ehd3tnanebhqdoozy6wu27hojm
Continuum mechanics of multicomponent materials : modelling, numerics and applications for biological materials in the framework of the theory of porous media
[article]
2021
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Figure 8.1: Representative elementary volume with exemplary displayed micro-structure of vertebra and macroscopic biphasic modelling approach. ...
Figure 4 . 17 : 417 Figure 4.17: Simulation of heterogeneous porous domains with the TPM model (a) and the SPH model (b). ...
form) allows for a prediction (via simulations) of interactions with its environment under certain conditions. ...
doi:10.18419/opus-11808
fatcat:ko2e6ydoa5akvlq4zqtkshskm4