Title :
The driving mechanism and control approach research of soft robot based on gas-driven
Author :
Jun He ; Linsen Xu ; Minzhu Luo ; Xiaobo Song ; Jian Chen
Author_Institution :
Dept. of Autom., Univ. of Sci. & Technol. of China, Hefei, China
Abstract :
This paper described the structure of a flexible six-unit pneumatic robotic system which can move in the narrow and non-structured environment and also can pass through the hole that smaller than itself, which can´t be realized by wheeled, legged, crawler robot. It makes sea cucumber-like movement, echinoderm animal, drived by a pneumatic rubber accuator and provides metabolic driven force by robot structure changing mathematical model of pneumatic accuator is established. Analysing Mechanical properties, a mechanism is improved to realize the metabolic driven function. The high speed switch electromagnetic valve control system was designed for the robot movement. The robot moving experiment had been done based on the robot moving states and pulse voltage time orders in one moving cycle. The Pulse Width Modulation circuit is employed to control a nonlinear system with infrared remote control. Results prove the robot can move orderly in an ideal environment by the control of high speed switch electromagnetic valves.
Keywords :
mechanical properties; mobile robots; motion control; nonlinear control systems; pneumatic actuators; pneumatic systems; pulse width modulation; telerobotics; time-varying systems; valves; control approach; driving mechanism; echinoderm animal; flexible six-unit pneumatic robotic system; gas-driven; high speed switch electromagnetic valve control; infrared remote control; mechanical properties; metabolic driven force; metabolic driven function; nonlinear system control; pneumatic accuator; pneumatic rubber accuator; pulse width modulation circuit; robot movement; sea cucumber-like movement; soft robot; switch electromagnetic valve control system; Atmospheric modeling; Force; Mathematical model; Pneumatic systems; Robots; Valves;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location :
Shenzhen
DOI :
10.1109/ROBIO.2013.6739856