ISER 2023关于平面HSA机器人基于模型控制的论文附带的代码.zip

# HSA planar control This repository provides implementation and closed-loop simulation of various control strategies for planar HSA robots. Furthermore, it contains ROS2 nodes for planning and control of the planar HSA robots. ## Citation This simulator is part of the publication **An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots** presented at the _18th International Symposium on Experimental Robotics_. You can find the publication ~~online~~ in the Springer Proceedings on Advanced Robotics (SPAR). Please use the following citation if you use our software in your (scientific) work: ```bibtex @inproceedings{stolzle2023experimental, title={An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots}, author={St{\"o}lzle, Maximilian and Rus, Daniela and Della Santina, Cosimo}, booktitle={Experimental Robotics: The 18th International Symposium}, year={2023}, organization={Springer} } ``` ## Installation 1. Please follow the JAX installation instructions on [GitHub](https://github.com/google/jax). 2. Then, you can install the requirements with `pip install -r requirements.txt`. 3. Finally, if you have locally cloned the `jax-soft-robot-modelling` repository, you can install it with `pip install -e .` from the root directory of the repository. ## ROS2 This repository also contains various ROS2 nodes for planning and control. As usual, clone this repository into your ROS2 workspace and build it with `colon build.` Furthermore, we rely on the ROS2 packages in the [ros2-hsa](https://github.com/tud-phi/ros2-hsa) repository for the communication with the hardware (both actuation and motion capture), inverse kinematics and visualization. You can launch the nodes with `ros2 launch hsa_planar_control ./launch/hsa_planar_cl_control.py`. ## System identification You can use the provided script `examples/system_identification/epu_identify_system_params_statically` to identify the nominal stiffness `S_a_hat`, the rest length elongation factor `C_varepsilon`, change of the axial stiffness `C_S_a`, and the bending parameters `S_b_hat`, `S_sh_hat`, `S_b_sh`, `C_S_b`, and `C_S_sh` using linear least-squares. Please modify the `SYSTTEMID_STEP` variable accordingly. ## See also You might also be interested in the following repositories: - The [`jax-soft-robot-modelling`](https://github.com/tud-phi/jax-soft-robot-modelling) repository contains a JAX implementation of various soft robot models, which can be, for example, used to simulate the robot's forward dynamics. - The [`jax-spcs-kinematics`](https://github.com/tud-phi/jax-spcs-kinematics) repository contains an implementation of the Selective Piecewise Constant Strain (SPCS) kinematics in JAX. Our paper shows that this kinematic model is suitable for representing the shape of HSA rods. - The [`HSA-PyElastica`](https://github.com/tud-phi/HSA-PyElastica) repository contains a plugin for PyElastica for the simulation of HSA robots.