This article presents the conception, the numerical modeling, and the control of a dexterous, deformable manipulator bio-inspired by the skeletal spine found in vertebrate animals. Through the implementation of this new manipulator, we show a methodology based on numerical models and simulations, that goes from design to control of continuum and soft robots. The manipulator is modeled using a finite element method (FEM), using a set of beam elements that reproduce the lattice structure of the robot. The model is computed and inverted in real-time using optimization methods. A closed-loop control strategy is implemented to account for the disparities between the model and the robot. This control strategy allows for accurate positioning, not only of the tip of the manipulator, but also the positioning of selected middle points along its backbone. In a scenario where the robot is piloted by a human operator, the command of the robot is enhanced by a haptic loop that renders the boundaries of its task space as well as the contact with its environment. The experimental validation of the model and control strategies is also presented in the form of an inspection task use case.

中文翻译：

---

基于柔顺脊柱的可变形机械手的设计、实现和控制

本文介绍了受脊椎动物骨骼脊柱生物启发的灵巧、可变形机械手的概念、数值建模和控制。通过这种新型机械手的实施，我们展示了一种基于数值模型和模拟的方法，该方法从设计到控制连续体和软机器人。机械手使用有限元方法 (FEM) 进行建模，使用一组可重现机器人晶格结构的梁单元。该模型是使用优化方法实时计算和反演的。实施闭环控制策略以解决模型和机器人之间的差异。这种控制策略不仅可以准确定位机械手的尖端，还可以准确定位沿其主干的选定中间点。在机器人由人类操作员驾驶的场景中，通过呈现其任务空间的边界以及与其环境的接触的触觉循环来增强机器人的命令。模型和控制策略的实验验证也以检查任务用例的形式呈现。