Journal article
Constrained Path Planning for Soft Continuum Robots with Bernstein Surfaces
IEEE Open Journal of Control Systems, Vol.4, pp.618-628
2025
DOI: 10.1109/OJCSYS.2025.3617288
Appears in UI Libraries Support Open Access
Abstract
This manuscript presents a framework for trajectory generation for soft continuum robots using principles from optimal control. The problem is constrained over the partial differential kinematic equations of the Cosserat rod model, capturing all modes of deformation which soft continuum systems can achieve. The derived optimal control problem is transformed to a nonlinear programming problem which can be solved using the Bernstein polynomial basis. Non-unit quaternions are used to discretely apply rotational transformations to values approximated over Bernstein polynomials, allowing individual components of strain to be constrained separately. Included within this manuscript are numerical results as well as validation through experimental results.
Details
- Title: Subtitle
- Constrained Path Planning for Soft Continuum Robots with Bernstein Surfaces
- Creators
- Maxwell HammondEan LovettVincenzo PuglieseVenanzio CichellaCaterina Lamuta
- Resource Type
- Journal article
- Publication Details
- IEEE Open Journal of Control Systems, Vol.4, pp.618-628
- DOI
- 10.1109/OJCSYS.2025.3617288
- ISSN
- 2694-085X
- eISSN
- 2694-085X
- Publisher
- IEEE
- Number of pages
- 12
- Grant note
- Office of Naval Research YIP: N00014-23-1-2116
This work was supported by the Office of Naval Research YIP under Grant N00014-23-1-2116.
- Language
- English
- Electronic publication date
- 10/01/2025
- Date published
- 2025
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984969244002771
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