Dr. Federico Renda is an Assistant Professor in the Department of Mechanical Engineering at Khalifa Universty in Abu Dhabi, UAE.

Before joining Khalifa University, he was a Post-Doctoral Fellow at the BioRobotics Institute of Scuola Superiore Sant’Anna, where he received his Ph.D. degree in 2014.

Dr. Federico Renda joined the LS2N lab at IMT Atlantique and the DEFROST Lab at INRIA as a Visiting Professor in 2018 and 2019, respectively. He currently serves as Associated Editor in several prestigious journals such as Soft Robotics and the IEEE Robotics and Automation Letters.

His research interests include dynamic modeling and control of soft and underwater robots using principles of geometric mechanics. Dr. Renda is also a member of the Institute of Electrical and Electronics Engineers (IEEE).

Title:

A Geometric Variable-strain Approach for Soft Robots Modeling

Abstract

The recent growing interest in soft robotics led to significant improvements in the mathematical modeling of such highly deformable structures. An interesting approach is provided by the geometric variable strain methods described in [1] and [2], which is based on a strain parameterization of the soft robot. One of the most important features of the model is that it encompasses the geometric theory of rigid robotics as a particular case. Thus, it is able to generalize many of the beneficial properties of this well-established field. The proposed model is well-posed to facilitate the statics and dynamics analysis and low-level control of soft, rigid, or hybrid robotic systems for medical applications.

In this talk, we will describe the theoretical and computational underpinning of the geometric variable-strain approach in detail. Then, its application to concentric tube robots will be shown with a particular emphasis on the implications of the sliding motion [3].

[1] F. Renda, C. Armanini, V. Lebastard, F. Candelier and F. Boyer, “A Geometric Variable-Strain Approach for Static Modeling of Soft Manipulators With Tendon and Fluidic Actuation,” in IEEE Robotics and Automation Letters, vol. 5, no. 3, pp. 4006-4013, July 2020.

[2] F. Boyer, V. Lebastard, F. Candelier and F. Renda, “Dynamics of Continuum and Soft Robots: A Strain Parameterization Based Approach,” in IEEE Transactions on Robotics, doi: 10.1109/TRO.2020.3036618.

[3] F. Renda, C. Messer, C. Rucker and F. Boyer, “A Sliding-Rod Variable-Strain Model for Concentric Tube Robots,” in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 3451-3458, April 2021.

Related events

Soft, smart, multifunctional, agile and aware surgical robots: Progress and technologies: Day 3

Talk: A Geometric Variable-strain Approach for Soft Robots Modeling
Role: Speaker

11th June 2021, 14.00