Motion Control of a Soft Circular Crawling Robot via Iterative Learning Control

Chi, Haozhen; Li, Xuefang; Liang, Wenyu; Wu, Yan; Ren, Qinyuan

doi:10.1109/cdc40024.2019.9029234

Cited by 2 publications

(1 citation statement)

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“…Modeling is important for the control scheme design [31,32]. In this section, the system modeling of the PAM and the robot manipulator are presented.…”

Section: System Modelingmentioning

confidence: 99%

Control of a Rehabilitation Robotic Device Driven by Antagonistic Soft Actuators

Chi

Liang

et al. 2021

Actuators

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Stroke is becoming a widely concerned social problem, and robot-assisted devices have made considerable contributions in the training and treatment of rehabilitation. Due to the compliance and continuous deformation capacity, rehabilitation devices driven by soft actuators are attached to widespread attention. Considering the large output force of pneumatic artificial muscle (PAM) and the biological musculoskeletal structure, an antagonistic PAM-driven rehabilitation robotic device is developed. To fulfill the need for control of the proposed device, a knowledge-guided data-driven modeling approach is used and an adaptive feedforward–feedback control approach is presented to ensure the motion accuracy under large deformation motion with high frequency. Finally, several simulations and experiments are carried out to evaluate the performance of the developed system, and the results show that the developed system with the proposed controller can achieve expected control performance under various operations.

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“…Modeling is important for the control scheme design [31,32]. In this section, the system modeling of the PAM and the robot manipulator are presented.…”

Section: System Modelingmentioning

confidence: 99%