Sensing Soft Robot Shape Using IMUs

An Experimental Investigation

Book chapter (2021)

Authors

Josie Hughes Massachusetts Institute of Technology
F. Stella Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering
C. Della Santina Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering , Technische Universität München, Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Daniela Rus Massachusetts Institute of Technology
Research Group
Learning & Autonomous Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2021 Josie Hughes, F. Stella, C. Della Santina, Daniela Rus
DOI: https://doi.org/10.1007/978-3-030-71151-1_48
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Published Date

2021

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Learning & Autonomous Control

Abstract

Shape estimation of soft robotic systems is challenging due to the range of deformations that can be achieved, and the limited availability of physically compatible sensors. We propose a method of reconstruction using Inertial Measurement Units (IMUs), which are mounted on segments of a deformable manipulator. This approach utilizes the piecewise constant curvature model in combination with the quaternion data from IMUs to allow for accuracy reconstruction and closed-loop control. A key strength of this approach is that it is hardware agnostic, and could be used on any soft structure to provide pose reconstruction and controllability. We explore this approach experimentally on a growing, extendable 3D printed continuum body structure, demonstrating that high accuracy reconstruction that can be achieved.

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