A soft arm driven by pneumatic muscles possesses strong nonlinearity. In this paper, FADRC is used to control the stiffness and position of the design arm.
Abstract: Soft robot arms possess such characteristics as light weight, simple structure and good adaptability to the environment, among others.
Based on these reasons, this paper presents a novel design and modeling of a fuzzy active disturbance rejection control (FADRC) controller for a soft PAM arm.
Design and Control of a Novel Variable Stiffness Soft Arm
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A novel design of a soft robotic arm consist of both contractile and extensor pneumatic artificial muscle (PAM) was presented. Kinematic model of this arm was ...
An inflatable robot arm with light weight and flexibility was proposed by the authors. The proposed robot arm is composed of inflatable links, pneumatic ...
Abstract. Soft robot arms possess such characteristics as light weight, simple structure and good adaptability to the environment, among others.
Based on these reasons, this paper presents a novel design and modeling of a fuzzy active disturbance rejection control (FADRC) controller for a soft PAM arm.
Jun 5, 2018 · The soft arm comprises three contractile and one extensor PAMs, which can vary its stiffness independently of its position in space. Force ...
Abstract— This paper expounds the design and control of a new Variable Stiffness Series Elastic Actuator (VSSEA). It is established by employing a modular ...
Abstract—This paper is concerned with the design and control of actuators for machines and robots physically inter- acting with humans, implementing ...