Details
| Original language | English |
|---|---|
| Article number | 557830 |
| Journal | Frontiers in Robotics and AI |
| Volume | 8 |
| Publication status | Published - 12 Mar 2021 |
Abstract
To further advance closed-loop control for soft robotics, suitable sensor and modeling strategies have to be investigated. Although there are many flexible and soft sensors available, the integration into the actuator and the use in a control loop is still challenging. Therefore, a state-space model for closed-loop low-level control of a fiber-reinforced actuator using pressure and orientation measurement is investigated. To do so, the integration of an inertial measurement unit and geometric modeling of actuator is presented. The piecewise constant curvature approach is used to describe the actuator’s shape and deformation variables. For low-level control, the chamber’s lengths are reconstructed from bending angles with a geometrical model and the identified material characteristics. For parameter identification and model validation, data from a camera tracking system is analyzed. Then, a closed-loop control of pressure and chambers’ length of the actuator is investigated. It will be shown, that the reconstruction model is suitable for estimating the state variables of the actuator. In addition, the use of the inertial measurement unit will demonstrate a cost-effective and compact sensor for soft pneumatic actuators.
Keywords
- control of soft robots, modeling of soft robots, nonlinear control, sensorization of soft robots, soft roboitcs, test bench design
ASJC Scopus subject areas
- Computer Science(all)
- Computer Science Applications
- Computer Science(all)
- Artificial Intelligence
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In: Frontiers in Robotics and AI, Vol. 8, 557830, 12.03.2021.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Modeling and Reconstruction of State Variables for Low-Level Control of Soft Pneumatic Actuators
AU - Ibrahim, Serhat
AU - Krause, Jan Christoph
AU - Olbrich, Alexander
AU - Raatz, Annika
N1 - Funding Information: Funded by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation)-405032969.
PY - 2021/3/12
Y1 - 2021/3/12
N2 - To further advance closed-loop control for soft robotics, suitable sensor and modeling strategies have to be investigated. Although there are many flexible and soft sensors available, the integration into the actuator and the use in a control loop is still challenging. Therefore, a state-space model for closed-loop low-level control of a fiber-reinforced actuator using pressure and orientation measurement is investigated. To do so, the integration of an inertial measurement unit and geometric modeling of actuator is presented. The piecewise constant curvature approach is used to describe the actuator’s shape and deformation variables. For low-level control, the chamber’s lengths are reconstructed from bending angles with a geometrical model and the identified material characteristics. For parameter identification and model validation, data from a camera tracking system is analyzed. Then, a closed-loop control of pressure and chambers’ length of the actuator is investigated. It will be shown, that the reconstruction model is suitable for estimating the state variables of the actuator. In addition, the use of the inertial measurement unit will demonstrate a cost-effective and compact sensor for soft pneumatic actuators.
AB - To further advance closed-loop control for soft robotics, suitable sensor and modeling strategies have to be investigated. Although there are many flexible and soft sensors available, the integration into the actuator and the use in a control loop is still challenging. Therefore, a state-space model for closed-loop low-level control of a fiber-reinforced actuator using pressure and orientation measurement is investigated. To do so, the integration of an inertial measurement unit and geometric modeling of actuator is presented. The piecewise constant curvature approach is used to describe the actuator’s shape and deformation variables. For low-level control, the chamber’s lengths are reconstructed from bending angles with a geometrical model and the identified material characteristics. For parameter identification and model validation, data from a camera tracking system is analyzed. Then, a closed-loop control of pressure and chambers’ length of the actuator is investigated. It will be shown, that the reconstruction model is suitable for estimating the state variables of the actuator. In addition, the use of the inertial measurement unit will demonstrate a cost-effective and compact sensor for soft pneumatic actuators.
KW - control of soft robots
KW - modeling of soft robots
KW - nonlinear control
KW - sensorization of soft robots
KW - soft roboitcs
KW - test bench design
UR - http://www.scopus.com/inward/record.url?scp=85103317408&partnerID=8YFLogxK
U2 - 10.3389/frobt.2021.557830
DO - 10.3389/frobt.2021.557830
M3 - Article
AN - SCOPUS:85103317408
VL - 8
JO - Frontiers in Robotics and AI
JF - Frontiers in Robotics and AI
M1 - 557830
ER -