Design and simulation analysis of a soft manipulator based on honeycomb pneumatic networks

Jiang, Hao; Liu, Xinghua; Chen, Xiaotong; Wang, Zhanchi; Jin, Yusong; Chen, Xiaoping

doi:10.1109/robio.2016.7866347

Cited by 46 publications

(25 citation statements)

References 16 publications

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“…In this paper, we designed and implemented a new soft arm hardware system (Figure 7A). Based on the design and fabrication method demonstrated in our previous work (Jiang et al, 2016), we designed and fabricated a new robotic arm (Figure 7A(a)). The arm consists of four segments of HPN structure, and each segment is controlled by four actuators for bending in two directions and the elongation.…”

Section: Methodsmentioning

confidence: 99%

“…All experiments in this work are performed with the Honeycomb Pneumatic Network Arm (HPN Arm). The structure of the HPN was proposed by Sun et al (2016), and was used to fabricate a soft arm for the first time by Jiang et al (2016). In this paper, in order to perform interaction tasks in daily scenes, we demonstrate a new HPN soft arm platform with a larger size and higher load capacity (Figure 1).…”

Section: Introductionmentioning

confidence: 99%

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Hierarchical control of soft manipulators towards unstructured interactions

Jiang

Wang

Jin

et al. 2021

The International Journal of Robotics Research

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Performing daily interaction tasks such as opening doors and pulling drawers in unstructured environments is a challenging problem for robots. The emergence of soft-bodied robots brings a new perspective to solving this problem. In this paper, inspired by humans performing interaction tasks through simple behaviors, we propose a hierarchical control system for soft arms, in which the low-level controller achieves motion control of the arm tip, the high-level controller controls the behaviors of the arm based on the low-level controller, and the top-level planner chooses what behaviors should be taken according to tasks. To realize the motion control of the soft arm in interacting with environments, we propose two control methods. The first is a feedback control method based on a simplified Jacobian model utilizing the motion laws of the soft arm that are not affected by environments during interaction. The second is a control method based on [Formula: see text]-learning, in which we present a novel method to increase training data by setting virtual goals. We implement the hierarchical control system on a platform with the Honeycomb Pneumatic Networks Arm (HPN Arm) and validate the effectiveness of this system on a series of typical daily interaction tasks, which demonstrates this proposed hierarchical control system could render the soft arms to perform interaction tasks as simply as humans, without force sensors or accurate models of the environments. This work provides a new direction for the application of soft-bodied arms and offers a new perspective for the physical interactions between robots and environments.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Hierarchical control of soft manipulators towards unstructured interactions

Jiang

Wang

Jin

et al. 2021

The International Journal of Robotics Research

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“…Using grouped chamber array to compose pneumatic driving structure can achieve a large deformation and high output force for soft robots by deformation accumulation of each chambers. [12][13][14] The aforementioned soft actuators can realize various forms of driving. However, they do not have the ability of stiffness regulation of themselves.…”

Section: Introductionmentioning

confidence: 99%

Trunk-like Soft Actuator: Design, Modeling, and Experiments

Bao¹,

Chen²,

Zhang³

et al. 2019

Robotica

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SUMMARYIn recent years, soft robotics is widely considered as the most promising field for both research and application. First of all, the actuator is fundamental for designing, modeling, and controlling of soft robots. This paper presents a new type of pneumatic trunk-like soft actuator, which contains a chamber for stiffness adjustment in addition to three chambers for driving. Thus, the salient feature of the proposed actuator is the ability of stiffness self-regulation. The structure of the proposed actuator is described in detail. Then the theoretical models for elongation and bending motion of the actuator are established. The elongation as well as single-chamber and multi-chamber driving bending of the actuator were tested to verify the mathematical models. Finally, a dual-segment soft robot based on the proposed trunk-like soft actuator was developed and tested by experiments, which implies its potential application in practice.

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“…17 –20 However, these SRGs focus on innovational structures, consider less admirable pneumatic control method. 21 –24…”

Section: Introductionmentioning

confidence: 99%

“…[17][18][19][20] However, these SRGs focus on innovational structures, consider less admirable pneumatic control method. [21][22][23][24] Currently, the pneumatic control schemes for SRGs concentrate on individual proportional valve and individual solenoid valve. The proportional valve is convenient to stabilize dynamic air pressure and achieves excellent linearity between control command and output pressure.…”

Section: Introductionmentioning

confidence: 99%

A novel mode controllable hybrid valve pressure control method for soft robotic gripper

Huang

Lin

et al. 2018

International Journal of Advanced Robotic Systems

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Compared with traditional rigid gripper with joint-linkage structure, novel soft robotic gripper gives rise to continuous concern for the advantages of no-damage grasping, convenient manufacture, easy control, and low cost. In this study, we design and built two kinds of soft robotic grippers with four fiber-reinforced soft actuators which are distributed in circular and rectangle shapes for single and twin contacts grasping. A novel hybrid valve pneumatic control scheme combining proportional and solenoid valves is proposed. Also, a mode controllable hybrid valve pressure control method is proposed to adjust internal pressure of soft robotic grippers to adapt to different grasping tasks. The experiment results verify that the performances of hybrid valve outperform those of individual proportional valve or solenoid valve in the aspects of response time and steady-state accuracy. The hybrid valve has wide range of pressure regulation, result in that the soft robotic grippers are qualified to grasp various objects with different shapes, sizes, and weights.

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Design and simulation analysis of a soft manipulator based on honeycomb pneumatic networks

Cited by 46 publications

References 16 publications

Hierarchical control of soft manipulators towards unstructured interactions

Hierarchical control of soft manipulators towards unstructured interactions

Trunk-like Soft Actuator: Design, Modeling, and Experiments

A novel mode controllable hybrid valve pressure control method for soft robotic gripper

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