NDLI: Feedforward augmented sliding mode motion control of antagonistic soft pneumatic actuators

Content Provider	IEEE Xplore Digital Library
Author	Skorina, E.H. Ming Luo Selim Ozel Fuchen Chen Weijia Tao Onal, C.D.
Copyright Year	2015
Description	Author affiliation: Mech. Eng. Dept. & Robot. Eng. Program, Worcester Polytech. Inst., Worcester, MA, USA (Skorina, E.H.; Ming Luo; Selim Ozel; Fuchen Chen; Weijia Tao; Onal, C.D.)
Abstract	Soft pneumatic actuators provide many exciting properties, but controlling them without the use of bulky and expensive flow-control valves can be difficult and computationally expensive. We seek a solution to this problem by introducing an inexpensive and reliable muscle-like linear soft actuator used antagonistically to operate a rigid 1-DoF joint, resulting in a system that combines the advantages of rigid and soft robotics. Using this setup, we performed precise motion control using a sliding mode feedback controller as well as a sliding mode controller augmented by a feedforward term to modulate the state of solenoid valves that drive each actuator. We found that both controllers performed equivalently well in following a step function and in responding to a disturbance. The feedforward augmented controller performed significantly better when following dynamic trajectories over a range of frequencies and with the addition of an external force. The next step will be to modify our valve control scheme to allow for the determination of both the position and stiffness of the joint, better leveraging the advantages of soft pneumatic actuators.
Starting Page	2544
Ending Page	2549
File Size	2695928
Page Count	6
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7139540
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Joints Valves Pulse width modulation Rubber Motion control Solenoids
Content Type	Text
Resource Type	Article

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