Design, modeling and control of an enhanced soft pneumatic network actuator
Design, modeling and control of an enhanced soft pneumatic network actuator
Inspired by nature, soft-bodied pneumatic network actuators (PNAs) composed of compliant materials have been successfully applied in the fields of industry and daily life because of large-amplitude motion and long life span. However, compliant materials simultaneously limit the output force, challenge the dynamic modeling and impede corresponding control. In this paper, we investigate the design, modeling and control of an enhanced PNA. First, an enhanced structure is proposed to improve the output force of PNAs with features of simplification of fabrication, lightweight and compliant material retentivity. Second, a dynamic model of the enhanced PNA is constructed based on the Euler–Lagrange (EL) method. Finally, an adaptive robust controller is addressed for PNAs in presence of system uncertainties without knowledge of its bounds in prior. Experiment results show that the output force of the enhanced PNA is four times greater than the actuator without enhanced structures, which affords to theoretical estimation. Moreover, the proposed controller is utilized and compared with previous works in humanoid finger experiments to illustrate the effectiveness.
Pneumatic network actuator, adaptive robust control, dynamic model, force improvement
Cao, Guizhou
13298236-1776-4302-b904-9c4b2b05cf39
Chu, Bing
555a86a5-0198-4242-8525-3492349d4f0f
Huo, Benyan
833a21f6-968f-4f7e-826f-449c560b9ca9
Liu, Yanhong
7db5cacb-a9fd-4a02-8843-5009c319c000
17 April 2021
Cao, Guizhou
13298236-1776-4302-b904-9c4b2b05cf39
Chu, Bing
555a86a5-0198-4242-8525-3492349d4f0f
Huo, Benyan
833a21f6-968f-4f7e-826f-449c560b9ca9
Liu, Yanhong
7db5cacb-a9fd-4a02-8843-5009c319c000
Cao, Guizhou, Chu, Bing, Huo, Benyan and Liu, Yanhong
(2021)
Design, modeling and control of an enhanced soft pneumatic network actuator.
International Journal of Humanoid Robotics, 18 (1), [2150004].
(doi:10.1142/S0219843621500043).
Abstract
Inspired by nature, soft-bodied pneumatic network actuators (PNAs) composed of compliant materials have been successfully applied in the fields of industry and daily life because of large-amplitude motion and long life span. However, compliant materials simultaneously limit the output force, challenge the dynamic modeling and impede corresponding control. In this paper, we investigate the design, modeling and control of an enhanced PNA. First, an enhanced structure is proposed to improve the output force of PNAs with features of simplification of fabrication, lightweight and compliant material retentivity. Second, a dynamic model of the enhanced PNA is constructed based on the Euler–Lagrange (EL) method. Finally, an adaptive robust controller is addressed for PNAs in presence of system uncertainties without knowledge of its bounds in prior. Experiment results show that the output force of the enhanced PNA is four times greater than the actuator without enhanced structures, which affords to theoretical estimation. Moreover, the proposed controller is utilized and compared with previous works in humanoid finger experiments to illustrate the effectiveness.
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Accepted/In Press date: 20 February 2021
Published date: 17 April 2021
Additional Information:
Funding Information:
This work was jointly supported by the National Key Research and Development Project (No. 2020YFB1313701), the National Natural Science Foundation of China (Nos. 61603345, 62003309), the Outstanding Foreign Scientist Support Project of Henan Province (No. GZS2019008) and Science & Technology Research Project in Henan Province of China (No. 202102210098).
Publisher Copyright:
© 2021 World Scientific Publishing Company.
Keywords:
Pneumatic network actuator, adaptive robust control, dynamic model, force improvement
Identifiers
Local EPrints ID: 449538
URI: http://eprints.soton.ac.uk/id/eprint/449538
PURE UUID: 83bfff8f-454a-4e0b-904c-c6d2e8f6e0ff
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Date deposited: 07 Jun 2021 16:30
Last modified: 17 Mar 2024 03:28
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Author:
Guizhou Cao
Author:
Bing Chu
Author:
Benyan Huo
Author:
Yanhong Liu
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