Model-Based Control and External Load Estimation of an Extensible Soft Robotic Arm

Frontiers in Robotics and AI

Xiaojiao Chen¹  Dehao Duanmu¹  Zheng Wang² 

[1] Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China;Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China;

关键词: modeling;    control;    soft robot application;    soft robot;    soft arm;   

DOI  :  10.3389/frobt.2020.586490

来源: DOAJ

【 摘 要 】

Soft robotics has widely been known for its compliant characteristics when dealing with contraction or manipulation. These soft behavior patterns provide safe and adaptive interactions, greatly relieving the complexity of active control policies. However, another promising aspect of soft robotics, which is to achieve useful information from compliant behavior, is not widely studied. This characteristic could help to reduce the dependence of sensors, gain a better knowledge of the environment, and enrich high-level control strategies. In this paper, we have developed a state-change model of a soft robotic arm, and we demonstrate how compliant behavior could be used to estimate external load based on this model. Moreover, we propose an improved version of the estimation procedure, further reducing the estimation error by compensating the influcence of pressure deadzone. Experiments of both methods are compared, displaying the potential effectiveness of applying these methods.

【 授权许可】

Unknown