Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators

Hadi Sadati, Ali Shiva, Ludovic Renson, Caleb Rucker, Kaspar Althoefer, Thrishantha Nanayakkara, Christos Bergeles, Helmut Hauser, Ian D. Walker

Research output: Contribution to conferenceConference Paperpeer-review

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A reliable, accurate, and yet simple dynamic model is important to analyze, design and control continuum manipulators. Such models should be fast, as simple as possible and
user-friendly to be widely accepted by the ever-growing robotics research community. In this study, we introduce two new modeling methods for continuum manipulators: a general reducedorder model (ROM) and a discretized model with absolute states and Euler-Bernoulli beam segments (EBA). Additionally, a new
formulation is presented for a recently introduced discretized model based on Euler-Bernoulli beam segments and relative states (EBR). The models are validated in comparison to experimental results for dynamics of a STIFF-FLOP continuum appendage. Our comparison shows higher simulation accuracy (8-14% normalized error) and numerical robustness of the ROM model for a system with small number of states, and computational efficiency of the EBA model with near real-time performances that makes it suitable for large systems. The
challenges with designing control and observation scenarios are briefly discussed in the end.
Original languageEnglish
Number of pages10
Publication statusPublished - 5 Sep 2019
EventRoyal Statistics Society International Conference 2019 - ICC Belfast, Belfast, United Kingdom
Duration: 2 Sep 20195 Sep 2019


ConferenceRoyal Statistics Society International Conference 2019
Abbreviated titleRSS 2019
Country/TerritoryUnited Kingdom
Internet address


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