Path Planning for Continuum Rods Using Bernstein Surfaces

Maxwell Hammond; Venanzio Cichella; Amirreza F Golestaneh; Caterina Lamuta

doi:10.1109/RoboSoft60065.2024.10521951

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Conference proceeding

Path Planning for Continuum Rods Using Bernstein Surfaces

Maxwell Hammond, Venanzio Cichella, Amirreza F Golestaneh and Caterina Lamuta

2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), pp.109-114

04/14/2024

DOI: 10.1109/RoboSoft60065.2024.10521951

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Abstract

This paper presents a method for optimal motion planning of soft continuum robots. The method employs Bernstein surfaces to approximate the system's kinematics and impose complex constraints, including collision avoidance. The main contribution is the approximation of infinite-dimensional continuous problems into their discrete counterparts, facilitating their solution using standard optimization solvers. This discretization leverages the unique properties of Bernstein surface, providing a framework that extends previous works which focused on ODEs approximated by Bernstein polynomials. Numerical validations are conducted through several numerical scenarios. The presented methodology offers a promising direction for solving complex optimal control problems in the realm of soft robotics.

Polynomials

Collision avoidance

Kinematics

Optimal control

Path planning

Planning

Soft robotics

Details

Title: Subtitle: Path Planning for Continuum Rods Using Bernstein Surfaces
Creators: Maxwell Hammond
Venanzio Cichella
Amirreza F Golestaneh
Caterina Lamuta
Resource Type: Conference proceeding
Publication Details: 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), pp.109-114
Publisher: IEEE
DOI: 10.1109/RoboSoft60065.2024.10521951
eISSN: 2769-4534
Language: English
Date published: 04/14/2024
Academic Unit: Roy J. Carver Department of Biomedical Engineering; IIHR--Hydroscience and Engineering; Mechanical Engineering
Record Identifier: 9984628223002771

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