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.

Trumic M., Jovanovic K., Fagiolini A. (2020). Comparison of Model-Based Simultaneous Position and Stiffness Control Techniques for Pneumatic Soft Robots. In Saïd ZeghloulMed Amine LaribiJuan Sebastian Sandoval Arevalo (a cura di), Advances in Service and Industrial Robotics Results of RAAD (pp. 218-226). Springer [10.1007/978-3-030-48989-2_24].

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

Trumic M.;Fagiolini A.
2020

Abstract

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.
Settore ING-INF/04 - Automatica
978-3-030-48988-5
978-3-030-48989-2
Trumic M., Jovanovic K., Fagiolini A. (2020). Comparison of Model-Based Simultaneous Position and Stiffness Control Techniques for Pneumatic Soft Robots. In Saïd ZeghloulMed Amine LaribiJuan Sebastian Sandoval Arevalo (a cura di), Advances in Service and Industrial Robotics Results of RAAD (pp. 218-226). Springer [10.1007/978-3-030-48989-2_24].
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/10447/428524
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