Search results for "variable stiffness actuators"

showing 2 items of 2 documents

Stiffness Estimation and Adaptive Control for Soft Robots

2022

Nonostante la sorprendente crescita nello sviluppo dei robot ispirati alla natura, tra cui i cosiddetti soft robot, il potenziale di questi sistemi, che hanno intrinseche capacità di adattamento, non è ancora stato sfruttato a pieno. La ricerca ha principalmente considerato il controllo in retroazione della posizione dei giunti del robot, lasciando la gestione della cedevolezza di questi ultimi ancora in anello aperto. Peraltro, le attuali limitazioni nel processo di produzione degli attuatori a cedevolezza variabile e l'inevitabile variabilità nel tempo degli elementi elastici costitutivi, i quali sono soggetti ad usura e deformazione plastica, rendono il problema della determinazione prec…

roboticrobotics soft robotics variable stiffness actuators modeling stiffness estima- tion unknown input observers adaptive controlrobotics soft robotics variable stiffness actuators modeling stiffness estimation unknown input observers adaptive controlunknown input observerSettore ING-INF/04 - Automaticavariable stiffness actuatormodelingsoft roboticstiffness estimationadaptive controlrobotika popustljvi roboti aktuatori promenjive krutosti modeliranje estimacija krutosti adaptivno upravljanje
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Decoupled nonlinear adaptive control of position and stiffness for pneumatic soft robots

2020

This article addresses the problem of simultaneous and robust closed-loop control of joint stiffness and position, for a class of antagonistically actuated pneumatic soft robots with rigid links and compliant joints. By introducing a first-order dynamic equation for the stiffness variable and using the additional control degree of freedom, embedded in the null space of the pneumatic actuator matrix, an innovative control approach is introduced comprising an adaptive compensator and a dynamic decoupler. The proposed solution builds upon existing adaptive control theory and provides a technique for closing the loop on joint stiffness in pneumatic variable stiffness actuators. Under a very mi…

0209 industrial biotechnologyAdaptive controlComputer science02 engineering and technologynull-spaceSoft robotadaptive controlComputer Science::Robotics020901 industrial engineering & automationArtificial IntelligenceControl theoryPosition (vector)0202 electrical engineering electronic engineering information engineeringmedicineElectrical and Electronic Engineeringvariable stiffness actuatorsPneumatic actuatorApplied MathematicsMechanical EngineeringStiffnessNonlinear adaptive controlphysical human–robot interactionantagonistic driveModeling and SimulationJoint stiffnesspneumatic actuatorRobot020201 artificial intelligence & image processingmedicine.symptomSoftware
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