A framework for the automated design and modelling of soft robotic systems

Dynamic control of soft robots interacting with the environment

“…The input to the pneumatic cylinders is produced by filtering τ in (14) through the filter described in (16). The desired impedance at the end effector is The integral gain is I c = 1.9N m rad −1 s −1 .…”

“…However, a reduced kinematic model most commonly used in soft robotics is the so-called Piecewise Constant Curvature (PCC) [14]. Other prior work on modeling and control of soft robots includes modeling biological systems [15], automatically designing the soft robot's kinematics [16], and developing algorithms for inverse kinematics [17], [18]. The use of purely kinematic strategies for soft robot control, together with heuristically tuned low-level high gain feedback controllers, work well in static situations with sparse contacts with the environment.…”

Soft Robotics: A Review of Recent Developments of Pneumatic Soft Actuators

“…Soft robots are controlled in low-level using pressure transducers which provides differences in actuator compliance, or volume control using strain sensors. Volume control is very effective in configuration control and assists setting a maximum safe displacement [1,4,7,12,32]. Valve sequencing control is controlling the body-segment actuator by pressurizing the actuator for a period by turning the valve on and off [10].…”

“…To ignore these forces in the computational model directly leads to However, using FEM/FEA there is an exponentially increasing computational burden for increasingly accurate models [90,124]. Which is why other areas of modeling have been explored, including the use of Artificial Neural Networks (ANNs) and Piecewise Constant Curvature (PCC) [32]. Another aspect to consider when developing these models is the non-conservative forces at play including frictional forces between materials as well as the resistive forces of the soft materials, usually silicone or rubber [125].…”

Control Design for Soft Robots based on Reduced Order Model

“…Different modeling solutions are combined in [18], where authors use continuum robot modeling, finite element method (FEM) and machine learning to develop a generic modeling method for soft robots. Finite element method is also used in [19] and [20].…”