Design and control of a novel variable stiffness soft arm
作者: Lina HaoChaoqun XiangM. E. GiannacciniHongtai ChengYing ZhangS. Nefti-MezianiSteven Davis
作者单位: 1School of Mechanical Engineering & Automation , Northeastern University , Shenyang , People’s Republic of China
2Soft Robotics Group, Bristol Robotics Laboratory , University of Bristol , Bristol , UK
3Centre for Autonomous Systems and Advanced Robotics , University of Salford , Salford , UK
刊名: Advanced Robotics, 2018, Vol.32 (11), pp.605-622
来源数据库: Taylor & Francis Journal
DOI: 10.1080/01691864.2018.1476179
关键词: Soft robotVariable stiffnessPAMStiffness modelingFADRC
原始语种摘要: ABSTRACT(#br)Soft robot arms possess such characteristics as light weight, simple structure and good adaptability to the environment, among others. On the other hand, robust control of soft robot arms presents many difficulties. Based on these reasons, this paper presents a novel design and modeling of a fuzzy active disturbance rejection control (FADRC) controller for a soft PAM arm. The soft arm comprises three contractile and one extensor PAMs, which can vary its stiffness independently of its position in space. Force analysis for the soft arm is conducted, and stiffness model of the arm is established based on the relational model of contractile and extensor PAM. The accuracy of stiffness model for the soft arm was verified through experiments. Associated to this, a controller based...
全文获取路径: Taylor & Francis  (合作)
影响因子:0.51 (2012)

  • 长篇小说 伸肌
  • stiffness 刚性
  • control 控制
  • extensor 伸肌
  • novel 伸肌
  • robot 机扑
  • paper 
  • modeling 制祝型
  • fuzzy 模糊的
  • robustness 坚固性
  • relational 有关系的