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Projekt Titel
Real-time capable model inversion using servo-constraints for fast moving soft robots
Förderkennzeichen
SE 1685/7-2
Funding code
945.03-025
Startdatum
July 1, 2025
Enddatum
June 30, 2028
Gepris ID
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The aim of the project is real-time capable model inversion for feedforward control of fast-moving soft robots. While the first phase of the project considered real-time model inversion for general underactuated mechanical systems, the second phase will focus on the application-specific challenges in the area of fast-moving soft robots. Soft robots are modern robots made of very soft materials, such as silicone or other elastomers, and represent a highly relevant area of research. Due to their soft structure, soft robots are particularly suitable for gripping processes, as well as for use in environments where collisions with objects or humans may occur. So far, primarily feedforward and feedback control methods based on quasi-static models have been used for soft robots. However, these approaches are not applicable to fast-moving soft robots because their dynamic behavior plays a dominant role. Therefore, the inverse models developed in this project explicitly account for the system dynamics. For these underactuated systems, key questions arise regarding their structural properties and how, based on these, real-time model inversion can be efficiently implemented for larger models with many degrees of freedom and multiple actuators. Furthermore, models for soft robots are often inaccurate due to manufacturing imperfections and parameter uncertainties. Therefore, a data-driven adaptation of the models is also pursued, ensuring compatibility with model inversion. To incorporate real parameters at an early stage and validate the developed methods, numerical studies will be closely integrated with experimental work. For this purpose, a family of soft robots is being developed, providing systems of varying complexity. These include both the inherent underactuation due to the soft nature of the robots and cases of redundant actuation that enable complex movements. The practicality of model inversion using servo constraints for various classes of underactuated multibody systems has been demonstrated in the project.