Model-based dynamic feedback control of a planar soft robot: Trajectory tracking and interaction with the environment
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Date
2020-03Type
- Journal Article
ETH Bibliography
no
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Abstract
Leveraging the elastic bodies of soft robots promises to enable the execution of dynamic motions as well as compliant and safe interaction with an unstructured environment. However, the exploitation of these abilities is constrained by the lack of appropriate control strategies. This work tackles for the first time the development of closed-loop dynamic controllers for a continuous soft robot. We present two architectures designed for dynamic trajectory tracking and surface following, respectively. Both controllers are designed to preserve the natural softness of the robot and adapt to interactions with an unstructured environment. The validity of the controllers is proven analytically within the hypotheses of the model. The controllers are evaluated through an extensive series of simulations, and through experiments on a physical soft robot capable of planar motions. Show more
Publication status
publishedExternal links
Journal / series
The International Journal of Robotics ResearchVolume
Pages / Article No.
Publisher
SageSubject
Soft robotics; motion control; flexible arms; soft control; model-based controlOrganisational unit
09689 - Katzschmann, Robert / Katzschmann, Robert
09689 - Katzschmann, Robert / Katzschmann, Robert
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ETH Bibliography
no
Altmetrics