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
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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); Vol. 4).Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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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
UR - http://www.scopus.com/inward/record.url?scp=85078668083&partnerID=8YFLogxK
UR - https://www.mendeley.com/catalogue/71111302-6b90-3758-bc64-12db9b3b0704/
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 -