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RESEARCH PRODUCT

Comparison of Model-Based Simultaneous Position and Stiffness Control Techniques for Pneumatic Soft Robots

Adriano FagioliniKosta JovanovicMaja Trumic

subject

0209 industrial biotechnologyAdaptive controlPneumatic actuatorComputer scienceAdaptive controlModel based controlStiffnessAntagonistic drive02 engineering and technologySoft robotsVariable stiffness actuator020901 industrial engineering & automationSettore ING-INF/04 - AutomaticaPosition (vector)Control theoryPneumatic actuator0202 electrical engineering electronic engineering information engineeringmedicineRobot020201 artificial intelligence & image processingArtificial musclemedicine.symptomActuatorRobotic arm

description

Soft robots have been extensively studied for their ability to provide both good performance and safe human-robot interaction. In this paper, we present and compare the performance of two model-based control techniques with the common aim to independently and simultaneously control position and stiffness of a pneumatic soft robot’s joint. The dynamic system of a robot arm with flexible joints actuated by a pneumatic antagonistic pair of actuators, so-called McKibben artificial muscles, will be regarded, while its dynamic parameters will be considered imprecise. Simulation results are provided to verify the performance of the algorithms.

yearjournalcountryeditionlanguage
2020-01-01
https://doi.org/10.1007/978-3-030-48989-2_24