摘要
The nature of high flexibility and adaptability brings soft robot more potential applications on industry, therapy and many other fields. The terminal locomotion of a soft actuator can be flexible and random to some extent. At the same time, the model construction and locomotion control have some difficulties. Different from most soft actuators with single channel unit, a self-developed three-paralleled-channel pneumatic soft actuator has been already fabricated before. This paper aims to do a coupling control of three paralleled channels' pressures and establish a pneumatic drive model of extruding and bending, and then present the terminal trajectory control system.
| 源语言 | 英语 |
|---|---|
| 主期刊名 | 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020 |
| 出版商 | Institute of Electrical and Electronics Engineers Inc. |
| 页 | 215-219 |
| 页数 | 5 |
| ISBN（电子版） | 9781728164151 |
| DOI | |
| 出版状态 | 已出版 - 13 10月 2020 |
| 活动 | 17th IEEE International Conference on Mechatronics and Automation, ICMA 2020 - Beijing, 中国 期限: 13 10月 2020 → 16 10月 2020 |
出版系列
| 姓名 | 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020 |
|---|
会议
| 会议 | 17th IEEE International Conference on Mechatronics and Automation, ICMA 2020 |
|---|---|
| 国家/地区 | 中国 |
| 市 | Beijing |
| 时期 | 13/10/20 → 16/10/20 |
指纹
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Zhang, L., Zhou, J., & Zhang, J. (2020). The Terminal Trajectory Drive and Control of a Three-Channel Soft Actuator. 在 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020 (页码 215-219). 文章 9233861 (2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA49215.2020.9233861