Title :
Design and control of a soft and continuously deformable 2D robotic manipulation system
Author :
Marchese, Andrew D. ; Komorowski, Konrad ; Onal, Cagdas D. ; Rus, Daniela
Author_Institution :
Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA
fDate :
May 31 2014-June 7 2014
Abstract :
In this paper we describe the design, fabrication, control, and experimental validation of a soft and highly compliant 2D manipulator. The arm consists of several body segments actuated using bi-directional fluidic elastomer actuators and is fabricated using a novel composite molding process. We use a cascaded PI and PID computation and novel fluidic drive cylinders to provide closed-loop control of curvature for each soft and highly compliant body segment. Furthermore, we develop algorithms to compute the arm´s forward and inverse kinematics in a manner consistent with piece-wise constant curvature continuum manipulators. These computation and control systems enable this highly compliant robot to autonomously follow trajectories. Experimental results with a robot consisting of six segments show that controlled movement of a soft and highly compliant manipulator is feasible.
Keywords :
PI control; cascade control; closed loop systems; deformation; electroactive polymer actuators; manipulator kinematics; three-term control; PID computation; bidirectional fluidic elastomer actuators; cascaded PI computation; closed-loop curvature control; compliant body segment; composite molding process; continuously deformable 2D robotic manipulation system; fluidic drive cylinders; forward kinematics; highly compliant 2D manipulator; highly compliant robot; inverse kinematics; piece-wise constant curvature continuum manipulators; soft 2D manipulator; Actuators; Kinematics; Manipulators; Mathematical model; Pistons; Pneumatic systems;
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
DOI :
10.1109/ICRA.2014.6907161