Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
In this paper, we will discuss the shape feedback control for an isometric closed-curve robot. The shape feedback control is formulated based on a curvature flow equation, which is a partial differential equation similar to the heat transfer equation. The authors have proposed curvature flow based shape feedback control for surface robots, but surface robots that can be deformed arbitrarily have not been realized yet. Therefore the proposed feedback control is investigated using an isometric closed-curve robot, which is a system similar to a surface robot. In this paper, we will show that the proposed controller has the ability to converge the robot’s shape from initial states to target states.
