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Dynamic Actuator Selection and Robust State-Feedback Control of Networked Soft Actuators
- Source :
- ICRA
- Publication Year :
- 2018
-
Abstract
- The design of robots that are light, soft, powerful is a grand challenge. Since they can easily adapt to dynamic environments, soft robotic systems have the potential of changing the status-quo of bulky robotics. A crucial component of soft robotics is a soft actuator that is activated by external stimuli to generate desired motions. Unfortunately, there is a lack of powerful soft actuators that operate through lightweight power sources. To that end, we recently designed a highly scalable, flexible, biocompatible Electromagnetic Soft Actuator (ESA). With ESAs, artificial muscles can be designed by integrating a network of ESAs. The main research gap addressed in this work is in the absence of system-theoretic understanding of the impact of the realtime control and actuator selection algorithms on the performance of networked soft-body actuators and ESAs. The objective of this paper is to establish a framework that guides the analysis and robust control of networked ESAs. A novel ESA is described, and a configuration of soft actuator matrix to resemble artificial muscle fiber is presented. A mathematical model which depicts the physical network is derived, considering the disturbances due to external forces and linearization errors as an integral part of this model. Then, a robust control and minimal actuator selection problem with logistic constraints and control input bounds is formulated, and tractable computational routines are proposed with numerical case studies.<br />To appear at the 2018 International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 21, 2018--May 25, 2018
- Subjects :
- business.industry
Computer science
020209 energy
Soft robotics
Robotics
Control engineering
Systems and Control (eess.SY)
02 engineering and technology
021001 nanoscience & nanotechnology
Computer Science::Robotics
Linearization
FOS: Electrical engineering, electronic engineering, information engineering
0202 electrical engineering, electronic engineering, information engineering
Robot
Computer Science - Systems and Control
Artificial muscle
Artificial intelligence
Robust control
0210 nano-technology
business
Actuator
Subjects
Details
- Language :
- English
- Database :
- OpenAIRE
- Journal :
- ICRA
- Accession number :
- edsair.doi.dedup.....8918cfb2d2e07db006efe438e89691cf