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In this paper, we use the optimal control methodology to control a flexible, elastic Cosserat rod. An inspiration comes from stereotypical movement patterns in octopus arms, which are observed in a variety of manipulation tasks, such as reaching or fetching. To help uncover the mechanisms underlying these observed morphologies, we outline an optimal control-based framework. A single octopus arm is modeled as a Hamiltonian control system, where the continuum mechanics of the arm is modeled after the Cosserat rod theory, and internal, distributed muscle forces and couples are considered as controls. First order necessary optimality conditions are derived for an optimal control problem formulated for this infinite dimensional system. Solutions to this problem are obtained numerically by an iterative forward-backward algorithm. The state and adjoint equations are solved in a dynamic simulation environment, setting the stage for studying a broader class of optimal control problems. Trajectories that minimize control effort are demonstrated and qualitatively compared with observed behaviors.
This paper entails application of the energy shaping methodology to control a flexible, elastic Cosserat rod model. Recent interest in such continuum models stems from applications in soft robotics, and from the growing recognition of the role of mec
This paper presents an application of the energy shaping methodology to control a flexible, elastic Cosserat rod model of a single octopus arm. The novel contributions of this work are two-fold: (i) a control-oriented modeling of the anatomically rea
Intelligent mobile sensors, such as uninhabited aerial or underwater vehicles, are becoming prevalent in environmental sensing and monitoring applications. These active sensing platforms operate in unsteady fluid flows, including windy urban environm
Optimal control of stochastic nonlinear dynamical systems is a major challenge in the domain of robot learning. Given the intractability of the global control problem, state-of-the-art algorithms focus on approximate sequential optimization technique
In recent times, developments in field of communication and robotics has progressed with leaps and bounds. In addition, the blend of both disciplines has contributed heavily in making human life easier and better. So in this work while making use of