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Reduced order modeling and model order reduction for continuum manipulators: an overview.

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Summary

This review clarifies Reduced Order Modeling (ROM) and Model Order Reduction (MOR) for soft robot control. It differentiates these techniques to help researchers select efficient computational models for soft robotics applications.

Keywords:
continuum robotdynamicsmodel order reduction (MOR)reduced order model (ROM)soft robot

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Area of Science:

  • Robotics
  • Control Engineering
  • Computational Mechanics

Background:

  • Soft robots exhibit complex dynamics requiring specialized control modeling techniques.
  • High-dimensional configuration spaces in geometrically exact models (Cosserat rod, FEM) hinder controller design for soft robots.
  • Reduced Order Modeling (ROM) and Model Order Reduction (MOR) are emerging as solutions to computational challenges in soft robotics.

Purpose of the Study:

  • To provide the first comprehensive survey of ROM and MOR techniques specifically for continuum and soft robotics.
  • To clarify the distinctions between ROM and MOR, as their terms are often used interchangeably.
  • To assist soft robotics researchers in choosing computationally efficient models for their control tasks.

Main Methods:

  • In-depth literature review of Reduced Order Modeling (ROM) techniques.
  • In-depth literature review of Model Order Reduction (MOR) techniques, particularly those applied to Finite Element Method (FEM) models.
  • Comparative analysis of ROM and MOR assumptions and implementations in the context of soft robotics.

Main Results:

  • Identified ROM and MOR as crucial for overcoming dimensionality challenges in soft robot modeling.
  • Highlighted the distinct theoretical underpinnings and practical implementations of ROM versus MOR.
  • Established a foundational understanding for selecting appropriate modeling techniques based on specific soft robotics applications.

Conclusions:

  • ROM and MOR are distinct yet vital approaches for developing computationally efficient soft robot models.
  • A clear understanding of ROM and MOR differences is essential for advancing soft robot control.
  • This review serves as a guide for researchers to effectively apply these modeling techniques.