A simple control strategy for increasing the soft bending actuator performance by using a pressure boost
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
Authors
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.
| Original language | English |
|---|---|
| Title of host publication | ASME 2019 International Mechanical Engineering Congress and Exposition : Volume 4: Dynamics, Vibration, and Control |
| Number of pages | 9 |
| Publisher | The American Society of Mechanical Engineers (ASME) |
| Publication date | 11.11.2019 |
| Article number | V004T05A065 |
| ISBN (electronic) | 978-0-7918-5941-4 |
| DOIs | |
| Publication status | Published - 11.11.2019 |
| Externally published | Yes |
| Event | ASME 2019 International Mechanical Engineering Congress and Exposition - IMECE 2019: ASME’s largest research and development conference focused primarily on mechanical engineering - Calvin L. Rampton Salt Palace Convention Center, Salt Lake City, United States Duration: 11.11.2019 → 14.11.2019 https://event.asme.org/IMECE2019 |
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