<p class="last">For a mobile robot undergoing serpentine locomotion, an accurate dynamic model is a fundamental requirement for optimization, control, navigation, and learning algorithms. Such algorithms can be readily implemented for traditional rigid robots, but remain a challenge for nonlinear and low-bandwidth soft robotic systems. This article addresses the theoretical modeling of the dynamics of a pressure-operated soft snake robot. A general framework is detailed to solve the 2D modeling problem of a soft snake robot, which is applicable to most pressure-operated soft robots developed by a modular kinematic arrangement of bending-type fluidic elastomer actuators. The model is simulated using measured physical parameters of a soft snake robot prototype. The theoretical results are verified through a detailed comparison to locomotion experiments on a flat surface with measured frictional properties. Experimental results confirm that the proposed model describes the motion of the robot accurately.</p>
Description
Theoretical Modeling and Experimental Analysis of a Pressure-Operated Soft Robotic Snake | Abstract
%0 Journal Article
%1 psnake
%A Ming, Luo
%A Mahdi, Agheli
%A Cagdas, Onal
%D 2014
%J Soft Robotics
%K RRR
%N 2
%P 136-146
%R 10.1089/soro.2013.0011
%T Theoretical Modeling and Experimental Analysis of a Pressure-Operated Soft Robotic Snake
%U /brokenurl# http://dx.doi.org/10.1089/soro.2013.0011
%V 1
%X <p class="last">For a mobile robot undergoing serpentine locomotion, an accurate dynamic model is a fundamental requirement for optimization, control, navigation, and learning algorithms. Such algorithms can be readily implemented for traditional rigid robots, but remain a challenge for nonlinear and low-bandwidth soft robotic systems. This article addresses the theoretical modeling of the dynamics of a pressure-operated soft snake robot. A general framework is detailed to solve the 2D modeling problem of a soft snake robot, which is applicable to most pressure-operated soft robots developed by a modular kinematic arrangement of bending-type fluidic elastomer actuators. The model is simulated using measured physical parameters of a soft snake robot prototype. The theoretical results are verified through a detailed comparison to locomotion experiments on a flat surface with measured frictional properties. Experimental results confirm that the proposed model describes the motion of the robot accurately.</p>
@article{psnake,
abstract = { <p class="last">For a mobile robot undergoing serpentine locomotion, an accurate dynamic model is a fundamental requirement for optimization, control, navigation, and learning algorithms. Such algorithms can be readily implemented for traditional rigid robots, but remain a challenge for nonlinear and low-bandwidth soft robotic systems. This article addresses the theoretical modeling of the dynamics of a pressure-operated soft snake robot. A general framework is detailed to solve the 2D modeling problem of a soft snake robot, which is applicable to most pressure-operated soft robots developed by a modular kinematic arrangement of bending-type fluidic elastomer actuators. The model is simulated using measured physical parameters of a soft snake robot prototype. The theoretical results are verified through a detailed comparison to locomotion experiments on a flat surface with measured frictional properties. Experimental results confirm that the proposed model describes the motion of the robot accurately.</p>},
added-at = {2016-02-22T14:10:02.000+0100},
author = {Ming, Luo and Mahdi, Agheli and Cagdas, Onal},
biburl = {https://www.bibsonomy.org/bibtex/229cbe48519595683d7728f58d36a88a4/ross_mck},
description = {Theoretical Modeling and Experimental Analysis of a Pressure-Operated Soft Robotic Snake | Abstract},
doi = {10.1089/soro.2013.0011},
eprint = {http://dx.doi.org/10.1089/soro.2013.0011},
interhash = {27b6ce6a0f9f674b592d20a5e717e6b7},
intrahash = {29cbe48519595683d7728f58d36a88a4},
journal = {Soft Robotics},
keywords = {RRR},
number = 2,
pages = {136-146},
timestamp = {2016-02-24T16:54:14.000+0100},
title = {Theoretical Modeling and Experimental Analysis of a Pressure-Operated Soft Robotic Snake},
url = {/brokenurl# http://dx.doi.org/10.1089/soro.2013.0011 },
volume = 1,
year = 2014
}