Soft robots have been extensively studied for their ability to provide both good performance and safe human-robot interaction. In this paper, we present and compare the performance of two model-based control techniques with the common aim to independently and simultaneously control position and stiffness of a pneumatic soft robot’s joint. The dynamic system of a robot arm with flexible joints actuated by a pneumatic antagonistic pair of actuators, so-called McKibben artificial muscles, will be regarded, while its dynamic parameters will be considered imprecise. Simulation results are provided to verify the performance of the algorithms.
|Title of host publication||Advances in Service and Industrial Robotics
Results of RAAD|
|Number of pages||9|
|Publication status||Published - 2020|
|Name||MECHANISMS AND MACHINE SCIENCE|
- Mechanics of Materials
- Mechanical Engineering