Dynamic Control of Soft Robotic Arm: An Experimental Study
Dynamic Control of Soft Robotic Arm: An Experimental Study
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DOI：
10.1109/lra.2023.3243802
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发表时间：
2022-09
影响因子：
5.2
通讯作者：
Milad Azizkhani;Anthony L. Gunderman;I. Godage;Yue Chen
中科院分区：
文献类型：
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作者：
Milad Azizkhani;Anthony L. Gunderman;I. Godage;Yue Chen
这封信的目的是研究软机器人臂的动态控制。首先，提出了模块化软机器人硬件和负担得起的执行空间编码器。然后，我们讨论了软机器人建模和具有稳定性的自适应被动控制策略。在不同的操作场景中测试了所提出的控制器，并将其与标准PD反馈线性化控制和被动控制进行了比较。在所有实验环境中，即使具有重要的建模不确定性和干扰，自适应的被动控制方案也能够实现出色的性能。所提出的控制器的理论分析和实验验证将为软机器人系统在动态场景中的实际实现铺平道路。
The objective of this letter is to investigate the dynamic control of a soft robotic arm. First, a modular soft robotic hardware and an affordable actuator-space encoder were presented. We then discussed the soft robot modeling, and adaptive passivity control strategy with stability proof. The proposed controller was tested in different operation scenarios, and compared to the standard PD feedback linearization control and passivity control. In all experimental settings, the adaptive passivity control scheme was able to achieve superior performance, even with significant modeling uncertainties and disturbances. The theoretical analysis and experimental validations of the proposed controller will pave the way toward the practical implementations of the soft robotic system in the dynamic scenarios.