首页|Findings in the Area of Robotics Reported from National Center for Scientific Re search (CNRS) (Ph-gauss-lobatto Reduced-ordermodel for Shape Control of Soft-co ntinuum Manipulators)
Findings in the Area of Robotics Reported from National Center for Scientific Re search (CNRS) (Ph-gauss-lobatto Reduced-ordermodel for Shape Control of Soft-co ntinuum Manipulators)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – Investigators publish new report on Ro botics. According to news reporting out of Lille, France, by NewsRx editors, res earch stated, “Soft and hyperelastic materials possess properties of resilience and flexibility, characterizing a class of soft-continuum manipulators (SCMs). T he latter describes a robot structure with an infinite number of degrees of free dom (DoF), useful for mobility and manipulation.” Financial support for this research came from CRIStAL Laboratory of Lille, Franc e. Our news journalists obtained a quote from the research from National Center for Scientific Research (CNRS), “However, these geometric characteristics are a sou rce of modeling and control problems. In this article, a Pythagorean hodograph ( PH) curve-based reduced order model (ROM) relying on the Gauss- Lobatto quadratur e is investigated for the modeling and the control of SCM. This allows, first, r educing the dimension of the SCM kinematics based on the PH parametric curves wi th a predefined length, and second, developing the shape kinematics control from its control polygon. The use of the Gauss-Lobatto quadrature allows to move ind ependently the PH curve control points, while preserving PH features of length a nd minimum curve energy. These features are important to control in real-time th e shape of the SCM.”
LilleFranceEuropeEmerging Technolo giesMachine LearningRobotRoboticsNational Center for Scientific Research (CNRS)
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