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Domain decomposition approach for FEM quasistatic modeling and control of Continuum Robots with rigid vertebras

Julien Bosman, Thor Morales Bieze, Othman Lakhal, Mario Sanz, Rochdi Merzouki, Christian Duriez
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
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

Thor Morales Bieze, Frederick Largilliere, Alexandre Kruszewski, Zhongkai Zhang, Rochdi Merzouki, Christian Duriez
2018 Soft Robotics  
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

Zhongkai Zhang, Jeremie Dequidt, Alexandre Kruszewski, Frederick Largilliere, Christian Duriez
2016 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
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]

Andy Adler, Bartłomiej Grychtol
2015 Zenodo  
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]

Arndt Wagner, Universität Stuttgart
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