用离散弹性杆模型实现软机械臂的高效动力学轨迹规划。
Trajectory Generation for Underactuated Soft Robot Manipulators using Discrete Elastic Rod Dynamics
- 基于离散弹性杆建模，兼顾物理准确与计算效率。
- 生成轨迹在硬件上跟踪误差降低，复杂工况下性能更优。
- 适合需要高精度柔性机器人控制的工程应用。
软体机器人因其柔顺性非常适合接触密集型任务，但这一特性使其精确且可计算的建模变得困难。生成具有动力学可行性的轨迹需要能够捕捉任意变形、计算高效且兼容欠驱动特性的模型。然而，现有方法在这些属性间权衡不均：连续杆模型虽具物理准确性但计算量大，降阶近似虽提升效率却牺牲建模保真度。为此，本文提出一种面向控制的离散弹性杆（DER）动力学重构方法，并设计了基于该动力学的轨迹生成技术。所提公式保持控制仿射结构，同时保留部分第一性原理的力-形变关系。结果表明，生成的轨迹既具备动力学可行性，又符合底层驱动假设。我们展示了完整的轨迹生成框架，并在气动软机械臂上进行了实验验证。硬件结果显示，相比恒曲率基线方法，本方法在复杂驱动条件下实现了更稳定的轨迹跟踪性能，显著提升定位精度。
原文摘要 · Abstract (English)
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary deformations, remain computationally efficient, and are compatible with underactuation. However, existing approaches balance these properties unevenly: continuum rod models provide physical accuracy but are computationally demanding, while reduced-order approximations improve efficiency at the cost of modeling fidelity. To address this, our work introduces a control-oriented reformulation of Discrete Elastic Rod (DER) dynamics for soft robots, and a method to generate trajectories with these dynamics. The proposed formulation yields a control-affine representation while preserving certain first-principles force-deformation relationships. As a result, the generated trajectories are both dynamically feasible and consistent with the underlying actuation assumptions. We present our trajectory generation framework and validate it experimentally on a pneumatic soft robotic limb. Hardware results demonstrate consistently improved trajectory tracking performance over a constant-curvature-based baseline, particularly under complex actuation conditions.
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