The Structure, Design, and Closed-Loop Motion Control of a Differential Drive Soft Robot
The Structure, Design, and Closed-Loop Motion Control of a Differential Drive Soft Robot
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差动驱动软体机器人的结构、设计及闭环运动控制
DOI：
10.1089/soro.2017.0042
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发表时间：
2018-02-01
期刊：
影响因子：
7.9
通讯作者：
Fei Yanqiong
中科院分区：
文献类型：
--
作者：
Pang Wu;Wang Jiangbei;Fei Yanqiong
介绍了一种以蠕动为灵感的气动软体机器人的结构、设计和运动控制。该机器人主要由两列气动多气囊（执行器）、一个传感器、一个脚板、前足和后足组成。根据左右执行器充气时间的不同，机器人既可以进行直线运动，也可以进行转弯运动。该机器人的执行机构由多个气囊组成，并对气囊的设计进行了分析。针对柔性机器人的非线性特性，采用径向基函数神经网络对柔性机器人在三种不同表面上的转弯能力进行训练，建立摩擦系数、偏转角和充气时间之间的数学模型。然后，利用三轴电子罗盘传感器建立了闭环自动控制模型。最后，通过直线运动和转弯运动实验，对自动控制模型进行了验证。实验表明，机器人在闭环控制系统下能够完成直线运动和转弯运动。
This article presents the structure, design, and motion control of an inchworm inspired pneumatic soft robot, which can perform differential movement. This robot mainly consists of two columns of pneumatic multi-airbags (actuators), one sensor, one baseboard, front feet, and rear feet. According to the different inflation time of left and right actuators, the robot can perform both linear and turning movements. The actuators of this robot are composed of multiple airbags, and the design of the airbags is analyzed. To deal with the nonlinear performance of the soft robot, we use radial basis function neural networks to train the turning ability of this robot on three different surfaces and create a mathematical model among coefficient of friction, deflection angle, and inflation time. Then, we establish the closed-loop automatic control model using three-axis electronic compass sensor. Finally, the automatic control model is verified by linear and turning movement experiments. According to the experiment, the robot can finish the linear and turning movements under the closed-loop control system.