Model-Based Eversion Control of Soft Growing Robots With Pneumatic Actuation

Authors

Abstract

This letter investigates the model based position control of soft growing robots with pneumatic actuation that extend according to the principle known as eversion. A dynamical model of the system which accounts for the energy of the ideal gas is presented by employing the port-Hamiltonian formulation. A new control law is constructed with an energy shaping approach. An adaptive observer is employed to compensate the effect of external forces, including that of gravity. Numerical simulations indicate that the proposed controller is superior to simpler energy shaping algorithms.

Citation

Journal: IEEE Control Systems Letters
Year: 2022
Volume: 6
Issue:
Pages: 2689–2694
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2022.3175385

BibTeX

@article{Franco_2022,
  title={{Model-Based Eversion Control of Soft Growing Robots With Pneumatic Actuation}},
  volume={6},
  ISSN={2475-1456},
  DOI={10.1109/lcsys.2022.3175385},
  journal={IEEE Control Systems Letters},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Franco, Enrico},
  year={2022},
  pages={2689--2694}
}

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References

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