Plant-inspired behavior-based controller to enable reaching in redundant continuum robot arms
- Resource Type
- Conference
- Authors
- Donato, Enrico; Ansari, Yasmin Tauqeer; Laschi, Cecilia; Falotico, Egidio
- Source
- 2023 IEEE International Conference on Soft Robotics (RoboSoft) Soft Robotics (RoboSoft), 2023 IEEE International Conference on. :1-6 Apr, 2023
- Subject
- Bioengineering
Computing and Processing
Engineered Materials, Dielectrics and Plasmas
Robotics and Control Systems
Laboratories
Soft robotics
Aerospace electronics
Robot sensing systems
End effectors
Sensors
Behavioral sciences
Soft Robotics
Behaviour-based Control
Embedded Sensing
- Language
- ISSN
- 2769-4534
Enabling reaching capabilities in highly redundant continuum robot arms is an active area of research. Existing solutions comprise of task-space controllers, whose proper functioning is still limited to laboratory environments. In contrast, this work proposes a novel plant-inspired behaviour-based controller that exploits information obtained from proximity sensing embedded near the end-effector to move towards a desired spatial target. The controller is tested on a 9-DoF modular cable-driven continuum arm for reaching multiple set-points in space. The results are promising for the deployability of these systems into unstructured environments.