Nonlinear Dynamics and Distributed Control for Soft Robot Locomotion (Section II, A, 2 (ARO) Topic 1.0 Mechanical Sciences: 1.3 Complex Dynamics and Systems)

Abstract

This project's goal is to construct a mathematical framework for real-time control of a soft robot system through dynamical modeling and sensor feedback. The dynamics and control framework will be validated on an experimental testbed to include soft, limbed robots powered by dielectric-elastomer actuators and shape-memory alloy. In contrast to their conventional rigid counterparts, soft machines and robots are elastically deformable bodies capable of extreme changes in shape and functionality. Progress in the nascent field of soft robotics depends on the ability to rapidly and faithfully model the dynamical state of a soft robot and incorporate this model into a feedback control for real-time path planning and locomotion.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Jan 07, 2020
Accession Number
AD1096936

Entities

People

  • Derek Paley

Organizations

  • University of Maryland

Tags

Communities of Interest

  • Autonomy
  • Space

DTIC Thesaurus Topics

  • Autonomous Systems
  • Closed Loop Systems
  • Consensus Algorithms
  • Control Systems
  • Dynamics
  • Engineering
  • Equations
  • Feedback
  • Linear Systems
  • Nonlinear Dynamics
  • Robotics
  • Robots
  • Soft Robotics
  • Three Dimensional
  • Traveling Waves
  • Wave Equations
  • Waves

Fields of Study

  • Computer science

Readers

  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control