Title
A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot
Author
Tavio Y Cabrera, E.J. (TU Delft Mechanical Engineering)
Della Santina, C. (TU Delft Learning & Autonomous Control; Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)) 
Borja, Pablo (Plymouth University)
Contributor
Piazza, Cristina (editor)
Capsi-Morales, Patricia (editor)
Figueredo, Luis (editor)
Keppler, Manuel (editor)
Schütze, Hinrich (editor)
Faculty
Mechanical Engineering
Date
2024
Abstract
The compliant nature of soft robots is appealing to a wide range of applications. However, this compliant property also poses several control challenges, e.g., how to deal with infinite degrees of freedom and highly nonlinear behaviors. This paper proposes a hybrid controller for a pneumatic-actuated soft robot. To this end, a model-based feedforward controller is designed and combined with a correction torque calculated via Gaussian process regression. Then, the proposed model-based and hybrid controllers are experimentally validated, and a detailed comparison between controllers is presented. Notably, the experimental results highlight the potential benefits of adding a learning approach to a model-based controller to enhance the closed-loop performance while reducing the computational load exhibited by purely learning strategies.
To reference this document use:
http://resolver.tudelft.nl/uuid:d11c6329-8f2f-46db-b338-3d2bc6928711
DOI
https://doi.org/10.1007/978-3-031-55000-3_2
Publisher
Springer
Embargo date
2024-09-10
ISBN
978-3-031-54999-1
Source
Human-Friendly Robotics 2023 - HFR: 16th International Workshop on Human-Friendly Robotics
Event
16th International Workshop on Human-Friendly Robotics, HFR 2023, 2023-09-20 → 2023-09-21, Munich, Germany
Series
Springer Proceedings in Advanced Robotics, 2511-1256, 29 SPAR
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.
Part of collection
Institutional Repository
Document type
conference paper
Rights
© 2024 E.J. Tavio Y Cabrera, C. Della Santina, Pablo Borja