A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot

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A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot

Tavio y Cabrera, Emilio / Santina, Cosimo Della / Borja, Pablo

The compliant nature of soft robots is appealing to a wide range of applications. However, this compliant property also poses several control challenges, e.g., how to deal with infinite degrees of freedom and highly nonlinear behaviors.

This paper proposes a hybrid controller for a pneumatic-actuated soft robot. To this end, a model-based feedforward controller is designed and combined with a correction torque calculated via Gaussian process regression. Then, the proposed model-based and hybrid controllers are experimentally validated, and a detailed comparison between controllers is presented. Notably, the experimental results highlight the potential benefits of adding a learning approach to a model-based controller to enhance the closed-loop performance while reducing the computational load exhibited by purely learning strategies.

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Dokumentinformationen

Titel :

A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot

Weitere Titelangaben:

Springer Proceedings in Advanced Robotics

Beteiligte:

Piazza, Cristina (Herausgeber:in) / Capsi-Morales, Patricia (Herausgeber:in) / Figueredo, Luis (Herausgeber:in) / Keppler, Manuel (Herausgeber:in) / Schütze, Hinrich (Herausgeber:in) / Tavio y Cabrera, Emilio (Autor:in) / Santina, Cosimo Della (Autor:in) / Borja, Pablo (Autor:in)

Kongress:

International Workshop on Human-Friendly Robotics ; 2023 ; Munich, Germany September 20, 2023 - September 21, 2023

Erschienen in:

Human-Friendly Robotics 2023 ; Kapitel : 2 ; 19-35

Springer Proceedings in Advanced Robotics ; 29

Erscheinungsdatum :

2024-03-10

Format / Umfang :

17 pages

ISBN :

978-3-031-55000-3 , 978-3-031-54999-1

ISSN :