Optical Sensing and Control Methods for Soft Pneumatically Actuated Robotic Manipulators
Optical Sensing and Control Methods for Soft Pneumatically Actuated Robotic Manipulators
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DOI：
10.1109/icra.2018.8461110
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发表时间：
2018-05
期刊：
影响因子：
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通讯作者：
Jennifer L. Molnar;Ching-An Cheng;Lucas O. Tiziani;Byron Boots;Frank L. Hammond
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作者：
Jennifer L. Molnar;Ching-An Cheng;Lucas O. Tiziani;Byron Boots;Frank L. Hammond
提出了一种低成本的光学传感方法，用于改进柔性气动机械手运动的测量和控制。软连续体机器人的核心嵌入了几个光漫射弹性体传感器，这些传感器根据其应变模式和程度对光进行衰减。光学传感器测量机器人轴中心的局部应变，并将这些应变数据与测量的执行器腔室压力相结合，以确定机器人在各种重力和尖端载荷条件下的姿态。使用神经网络（nn）的回归分析表明，当软连续体机器人的基座方向固定时，使用光学传感器和压力数据（~2.44mm）比仅使用压力数据（~8.3mm）估计其末端执行器的位置精度高3.42倍（均方根误差小71%）。当机器人的基础方向发生变化时，结合光学传感器和压力数据提供的位置估计精度（~2.76mm）比单独的压力数据（~104mm）高出37.8倍。
A low-cost optical sensing method for improved measurement and control of soft pneumatic manipulator motion is presented. The core of a soft continuum robot is embedded with several optically-diffuse elastomer sensors which attenuate light depending on their strain mode and degree. The optical sensors measure local strains at the robot's axial center, and these strain data are combined with measured actuator chamber pressures to determine the pose of the robot under various gravitational and tip loading conditions. Regression analyses using neural networks (NNs) demonstrate that when the soft continuum robot's base orientation is fixed, the position of its end-effector can be estimated with 3.42 times more accuracy (71 % smaller root mean squared error) when using both optical sensor and pressure data (~2.44mm) than when using only pressure data (~8.3mm). When the robot's base orientation was varied, the combined optical sensor and pressure data provide position estimates which are as much as 37.8 times more accurate (~2.76mm) than pressure data alone (~104mm).