A simple control strategy for increasing the soft bending actuator performance by using a pressure boost

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Standard

A simple control strategy for increasing the soft bending actuator performance by using a pressure boost. / Pinto, Brian Alphonse; Schiller, Lars; Seibel, Arthur.
ASME 2019 International Mechanical Engineering Congress and Exposition : Volume 4: Dynamics, Vibration, and Control. The American Society of Mechanical Engineers (ASME), 2019. V004T05A065 (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Band 4).

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Harvard

Pinto, BA, Schiller, L & Seibel, A 2019, A simple control strategy for increasing the soft bending actuator performance by using a pressure boost. in ASME 2019 International Mechanical Engineering Congress and Exposition : Volume 4: Dynamics, Vibration, and Control., V004T05A065, ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), Bd. 4, The American Society of Mechanical Engineers (ASME), ASME 2019 International Mechanical Engineering Congress and Exposition - IMECE 2019, Salt Lake City, USA / Vereinigte Staaten, 11.11.19. https://doi.org/10.1115/IMECE2019-11410

APA

Pinto, B. A., Schiller, L., & Seibel, A. (2019). A simple control strategy for increasing the soft bending actuator performance by using a pressure boost. In ASME 2019 International Mechanical Engineering Congress and Exposition : Volume 4: Dynamics, Vibration, and Control Artikel V004T05A065 (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Band 4). The American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/IMECE2019-11410

Vancouver

Pinto BA, Schiller L, Seibel A. A simple control strategy for increasing the soft bending actuator performance by using a pressure boost. in ASME 2019 International Mechanical Engineering Congress and Exposition : Volume 4: Dynamics, Vibration, and Control. The American Society of Mechanical Engineers (ASME). 2019. V004T05A065. (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)). doi: 10.1115/IMECE2019-11410

Bibtex

@inbook{48abb24c58a6488ba79800ef9f1f2f3d,
title = "A simple control strategy for increasing the soft bending actuator performance by using a pressure boost",
abstract = "High-speed actuation of soft actuators requires high source pressure to transfer air as quickly as possible into the actuator. Allowing high source pressure and having the deformation angle as the only control input may allow faster actuation, but there is a risk of bursting when the actuator is prevented from reaching the desired angle, for example, due to an obstacle. The other option to control the actuator{\textquoteright}s deformation is based on controlling the pressure. In this paper, we present a simple control strategy that uses an initial pressure boost in a pressure-based PID controller showing the same performance as in angle-based PID control. The performance improvement is demonstrated experimentally on a standard soft bending actuator and a gecko-inspired, climbing soft robot.",
keywords = "Engineering",
author = "Pinto, {Brian Alphonse} and Lars Schiller and Arthur Seibel",
note = "Publisher Copyright: Copyright {\textcopyright} 2019 ASME.; ASME 2019 International Mechanical Engineering Congress and Exposition - IMECE 2019 : ASME{\textquoteright}s largest research and development conference focused primarily on mechanical engineering, IMECE 2019 ; Conference date: 11-11-2019 Through 14-11-2019",
year = "2019",
month = nov,
day = "11",
doi = "10.1115/IMECE2019-11410",
language = "English",
series = "ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)",
publisher = "The American Society of Mechanical Engineers (ASME)",
booktitle = "ASME 2019 International Mechanical Engineering Congress and Exposition",
address = "United States",
url = "https://event.asme.org/IMECE2019",

}

RIS

TY - CHAP

T1 - A simple control strategy for increasing the soft bending actuator performance by using a pressure boost

AU - Pinto, Brian Alphonse

AU - Schiller, Lars

AU - Seibel, Arthur

N1 - Publisher Copyright: Copyright © 2019 ASME.

PY - 2019/11/11

Y1 - 2019/11/11

N2 - High-speed actuation of soft actuators requires high source pressure to transfer air as quickly as possible into the actuator. Allowing high source pressure and having the deformation angle as the only control input may allow faster actuation, but there is a risk of bursting when the actuator is prevented from reaching the desired angle, for example, due to an obstacle. The other option to control the actuator’s deformation is based on controlling the pressure. In this paper, we present a simple control strategy that uses an initial pressure boost in a pressure-based PID controller showing the same performance as in angle-based PID control. The performance improvement is demonstrated experimentally on a standard soft bending actuator and a gecko-inspired, climbing soft robot.

AB - High-speed actuation of soft actuators requires high source pressure to transfer air as quickly as possible into the actuator. Allowing high source pressure and having the deformation angle as the only control input may allow faster actuation, but there is a risk of bursting when the actuator is prevented from reaching the desired angle, for example, due to an obstacle. The other option to control the actuator’s deformation is based on controlling the pressure. In this paper, we present a simple control strategy that uses an initial pressure boost in a pressure-based PID controller showing the same performance as in angle-based PID control. The performance improvement is demonstrated experimentally on a standard soft bending actuator and a gecko-inspired, climbing soft robot.

KW - Engineering

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U2 - 10.1115/IMECE2019-11410

DO - 10.1115/IMECE2019-11410

M3 - Article in conference proceedings

AN - SCOPUS:85078668083

T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)

BT - ASME 2019 International Mechanical Engineering Congress and Exposition

PB - The American Society of Mechanical Engineers (ASME)

T2 - ASME 2019 International Mechanical Engineering Congress and Exposition - IMECE 2019

Y2 - 11 November 2019 through 14 November 2019

ER -

DOI