[HTML][HTML] Pneumatic soft robots: Challenges and benefits
In the field of robotics, soft robots have been showing great potential in the areas of medical
care, education, service, rescue, exploration, detection, and wearable devices due to their …
care, education, service, rescue, exploration, detection, and wearable devices due to their …
A review of soft manipulator research, applications, and opportunities
X Chen, X Zhang, Y Huang, L Cao… - Journal of Field …, 2022 - Wiley Online Library
Soft manipulator is a kind of special manipulator that uses soft material or flexible structure to
perform manipulation task under the specific drive mode inspired by the soft tissue. It is …
perform manipulation task under the specific drive mode inspired by the soft tissue. It is …
Position and stiffness control of an antagonistic variable stiffness actuator with input delay using super-twisting sliding mode control
A Javadi, R Chaichaowarat - Nonlinear Dynamics, 2023 - Springer
Motor dynamics in antagonistic variable stiffness actuator (AVSA) is generally disregarded in
control system design. This ignorance can lead to an inaccurate system model, affecting the …
control system design. This ignorance can lead to an inaccurate system model, affecting the …
Adaptive control of soft robots based on an enhanced 3D augmented rigid robot matching
Despite having proven successful in generating precise motions under dynamic conditions
in highly deformable soft-bodied robots, model based techniques are also prone to …
in highly deformable soft-bodied robots, model based techniques are also prone to …
Learning-based approach for a soft assistive robotic arm to achieve simultaneous position and force control
Soft robotics have demonstrated great advantages in assisting elderly/disabled people
during daily tasks, owing to their highly dexterous motions and safe human-robot …
during daily tasks, owing to their highly dexterous motions and safe human-robot …
[HTML][HTML] Model reference predictive adaptive control for large-scale soft robots
Past work has shown model predictive control (MPC) to be an effective strategy for
controlling continuum joint soft robots using basic lumped-parameter models. However, the …
controlling continuum joint soft robots using basic lumped-parameter models. However, the …
Prescribed performance-tangent barrier lyapunov function for adaptive neural backstepping control of variable stiffness actuator with input and output constraints
Y Xia, JY Li, YK Song, JX Wang, YF Han… - International Journal of …, 2023 - Springer
Due to the complexity of modeling and the strong transmission coupling, the rich
background of rigid actuator control has not been transferred to variable stiffness actuator …
background of rigid actuator control has not been transferred to variable stiffness actuator …
Flatness-based control in successive loops for electropneumatic actuators and robots
The control problem for the nonlinear dynamics of robotic and mechatronic systems with
electropneumatic actuation is solved with the use of a flatness-based control approach …
electropneumatic actuation is solved with the use of a flatness-based control approach …
Thin piezoelectric mobile robot using curved tail oscillation
In this paper, a novel piezoelectric material-based soft mobile robot is proposed. The robot
consists of a thin film body and a soft polyvinylidene fluoride-based tail. The tail has a …
consists of a thin film body and a soft polyvinylidene fluoride-based tail. The tail has a …
Robust and decoupled position and stiffness control for electrically-driven articulated soft robots
The control of articulated soft robots, ie robots with flexible joints and rigid links, presents a
challenge due to their intrinsic elastic elements and nonlinear force-deflection dependency …
challenge due to their intrinsic elastic elements and nonlinear force-deflection dependency …