Adaptive Tracking Control of Soft Robots using Integrated Sensing Skin and Recurrent Neural Networks

11/17/2020
by   Lasitha Weerakoon, et al.
0

In this paper, we study integrated estimation and control of soft robots. A significant challenge in deploying closed loop controllers is reliable proprioception via integrated sensing in soft robots. Despite the considerable advances accomplished in fabrication, modelling, and model-based control of soft robots, integrated sensing and estimation is still in its infancy. To that end, this paper introduces a new method of estimating the degree of curvature of a soft robot using a stretchable sensing skin. The skin is a spray-coated piezoresistive sensing layer on a latex membrane. The mapping from the strain signal to the degree of curvature is estimated by using a recurrent neural network. We investigate uni-directional bending as well as bi-directional bending of a single-segment soft robot. Moreover, an adaptive controller is developed to track the degree of curvature of the soft robot in the presence of dynamic uncertainties. Subsequently, using the integrated soft sensing skin, we experimentally demonstrate successful curvature tracking control of the soft robot.

READ FULL TEXT

page 1

page 2

page 3

page 4

page 5

page 6

page 7

research
03/15/2022

Dynamical Modeling and Control of Soft Robots with Non-constant Curvature Deformation

The Piecewise Constant Curvature (PCC) model is the most widely used sof...
research
12/14/2020

Distributed Sensor Networks Deployed Using Soft Growing Robots

Due to their ability to move without sliding relative to their environme...
research
07/20/2023

A Hybrid Adaptive Controller for Soft Robot Interchangeability

Soft robots have been leveraged in considerable areas like surgery, reha...
research
02/21/2020

Emulating duration and curvature of coral snake anti-predator thrashing behaviors using a soft-robotic platform

This paper presents a soft-robotic platform for exploring the ecological...
research
02/25/2023

3D Printed Proprioceptive Soft Fluidic Actuators with graded porosity

Integration of both actuation and proprioception into the robot body ena...
research
04/22/2022

A Data-Efficient Model-Based Learning Framework for the Closed-Loop Control of Continuum Robots

Traditional dynamic models of continuum robots are in general computatio...
research
02/07/2023

Magnetic Ball Chain Robots for Endoluminal Interventions

This paper introduces a novel class of hyperredundant robots comprised o...

Please sign up or login with your details

Forgot password? Click here to reset