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Piston-Driven Pneumatically-Actuated Soft Robots: Modeling and Backstepping Control

Stölzle, Maximilian and Della Santina, Cosimo (2021) Piston-Driven Pneumatically-Actuated Soft Robots: Modeling and Backstepping Control. IEEE Control Systems Letters, 6, pp. 1837-1842. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2021.3134165. ISSN 2475-1456.

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Official URL: https://ieeexplore.ieee.org/document/9644579


Actuators’ dynamics have been so far mostly neglected when devising feedback controllers for continuum soft robots since the problem under the direct actuation hypothesis is already quite hard to solve. Directly considering actuation would have made the challenge too complex. However, these effects are, in practice, far from being negligible. The present work focuses on model-based control of piston-driven pneumatically-actuated soft robots. We propose a model of the relationship between the robot’s state, the acting fluidic pressure, and the piston dynamics, which is agnostic to the chosen model for the soft system dynamics. We show that backstepping is applicable even if the feedback coupling of the outer on the inner subsystem is not linear. Thus, we introduce a general model-based control strategy based on backstepping for soft robots actuated by fluidic drive. As an example, we derive a specialized version for a robot with piecewise constant curvature.

Item URL in elib:https://elib.dlr.de/192896/
Document Type:Article
Title:Piston-Driven Pneumatically-Actuated Soft Robots: Modeling and Backstepping Control
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Stölzle, MaximilianDelft University of TechnologyUNSPECIFIEDUNSPECIFIED
Della Santina, CosimoUNSPECIFIEDhttps://orcid.org/0000-0003-1067-1134UNSPECIFIED
Date:9 December 2021
Journal or Publication Title:IEEE Control Systems Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1837-1842
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Control applications, PID control, robotics
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Basic Technologies [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Strobl, Dr. Klaus H.
Deposited On:23 Dec 2022 11:21
Last Modified:23 Dec 2022 11:21

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