TY - GEN
T1 - A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot
AU - Tavio y Cabrera, Emilio
AU - Santina, Cosimo Della
AU - Borja, Pablo
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.
PY - 2024/3/10
Y1 - 2024/3/10
N2 - The compliant nature of soft robots is appealing to a wide range of applications. However, this compliant property also poses several control challenges, e.g., how to deal with infinite degrees of freedom and highly nonlinear behaviors. This paper proposes a hybrid controller for a pneumatic-actuated soft robot. To this end, a model-based feedforward controller is designed and combined with a correction torque calculated via Gaussian process regression. Then, the proposed model-based and hybrid controllers are experimentally validated, and a detailed comparison between controllers is presented. Notably, the experimental results highlight the potential benefits of adding a learning approach to a model-based controller to enhance the closed-loop performance while reducing the computational load exhibited by purely learning strategies.
AB - The compliant nature of soft robots is appealing to a wide range of applications. However, this compliant property also poses several control challenges, e.g., how to deal with infinite degrees of freedom and highly nonlinear behaviors. This paper proposes a hybrid controller for a pneumatic-actuated soft robot. To this end, a model-based feedforward controller is designed and combined with a correction torque calculated via Gaussian process regression. Then, the proposed model-based and hybrid controllers are experimentally validated, and a detailed comparison between controllers is presented. Notably, the experimental results highlight the potential benefits of adding a learning approach to a model-based controller to enhance the closed-loop performance while reducing the computational load exhibited by purely learning strategies.
UR - http://www.scopus.com/inward/record.url?scp=85188706102&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-55000-3_2
DO - 10.1007/978-3-031-55000-3_2
M3 - Conference proceedings published in a book
AN - SCOPUS:85188706102
SN - 9783031549991
T3 - Springer Proceedings in Advanced Robotics
SP - 19
EP - 35
BT - Human-Friendly Robotics 2023 - HFR
A2 - Piazza, Cristina
A2 - Capsi-Morales, Patricia
A2 - Figueredo, Luis
A2 - Keppler, Manuel
A2 - Schütze, Hinrich
PB - Springer Nature
T2 - 16th International Workshop on Human-Friendly Robotics, HFR 2023
Y2 - 20 September 2023 through 21 September 2023
ER -