Experimental validation of model-based collocated control for shape regulation in elastically decoupled underactuated soft robots
Ghanishtha Bhatti (Student TU Delft)
Pietro Pustina (TU Delft - Mechanical Engineering)
Daniel Feliu-Talegon (TU Delft - Mechanical Engineering)
Bastian Deutschmann (Deutsches Zentrum für Luft- und Raumfahrt (DLR))
Cosimo Della Santina (TU Delft - Mechanical Engineering, Deutsches Zentrum für Luft- und Raumfahrt (DLR))
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Abstract
Soft robots, with their compliant and underactuated nature, pose significant challenges for real-time shape regulation. Practical implementations of these methods often rely on fully-actuated approximations, over-looking the underactuated nature of these continuum structures. This study experimentally validates model-based controllers through collocated control that explicitly address underactuation, incorporating gravity cancellation and elasticity compensation to outperform conventional PD/PID approaches. A new multi-segment soft robot with a passively actuated segment has been designed, enabling experimental validation and providing strong evidence of the controllers’ effectiveness. The work bridges theory and practice, offering a practical framework for real-time shape regulation applicable to diverse soft robotic systems.
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