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Modeling and Adaptive Neural Network Control for a soft robotic arm With Prescribed Motion Constraints

IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 501-511页

作者： Yan Yang Jiangtao Han Zhijie Liu Zhijia Zhao Keum-Shik Hong the School of Intelligence Science and Technology University of Science and Technology BeijingBeijing 10083 the Institute of Artificial Intelligence University of Science and Technology BeijingBeijing 100083China IEEE the School of Mechanical and Electrical Engineering Guangzhou UniversityGuangzhou 510006China the School of Mechanical Engineering Pusan National UniversityBusan 46241South Korea

This paper presents a dynamic model and performance constraint control of a line-driven soft robotic arm.The dynamics model of the soft robotic arm is established by combining the screw theory and the Cosserat theory.The unmodeled dynamics of the system are considered,and an adaptive neural network controller is designed using the backstepping method and radial basis function neural network.The stability of the closed-loop system and the boundedness of the tracking error are verified using Lyapunov theory.The simulation results show that our approach is a good solution to the motion constraint problem of the line-driven soft robotic arm.

关键词： Adaptive control cosserat theory prescribed motion constraints soft robotic arm

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Kinematic modeling and control of a novel pneumatic soft robotic arm

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Chinese Journal of Aeronautics 2022年第7期35卷 310-319页

作者： Hongwei LI Yan XU Chao ZHANG Huxiao YANG School of Aeronautics and Astronautics Zhejiang UniversityHangzhouZhejiangChina

A novel soft robotic arm(SRA)composed of two soft extensible arms(SEAs)and a soft bendable joint(SBJ)for space capture systems is presented in this paper.A diamond origami pattern was applied in the design of the SEAs,and large deformations of the SEAs in positive pressure were simulated using the nonlinear finite element method.A kinematic model of the SRA using the Denavit–Hartenberg method based on the assumption of constant curvatures was proposed.A closed-loop model-free control system based on a PID controller was developed using real-time data from a vision sensor system.The kinematic model and closed-loop model-free control system are experimentally evaluated on an SRA prototype by four experiments.The experimental results demonstrate that the derived kinematic model can finely describe the movement of the SRA and that the closed-loop control system can control the SRA to reach the desired destination or trajectory within an acceptable error and performs well in long-term repeated operations.

关键词： arm control Kinematics Repeated precision soft robotic arm Trajectory tracking

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A Bio-inspired soft robotic arm： Kinematic Modeling and Hydrodynamic Experiments

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Journal of Bionic Engineering 2018年第2期15卷 204-219页

作者： Zheyuan Gong Jiahui Cheng Xingyu Chen Wenguang Sun Xi Fang Kainan Hu Zhexin Xie Tianmiao Wang Li Wen School of Mechanical Engineering and Automation Beihang University Beijing 100191 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China . Beijing Advanced Innovation Center for Biomedical Engineering Beihang University Beijing 100191 China

soft robotics has several promising properties for aquatic applications, such as safe interaction with environments, lightweight, low cost, etc. In this paper, we proposed the kinematic modeling and hydrodynamics experiments of a soft robotic arm with 3D locomotion capacity. We developed a mathematical model that incorporates the angle correction, as well as the open-loop model-based motion control. The model could precisely predict the three-dimensional （3D） movement, and the location error is less than 5.7 mm in different attitudes. Furthermore, we performed the hydrodynamic investigations and simultaneously measured the hydrodynamic forces and the wake flows at different amplitudes （50 mm, 100 mm, 150 mm, 200 mm） and frequencies （0.3 Hz, 0.4 Hz, 0.5 Hz） of the soft arm. Surprisingly, we found that the magnitudes of the hydrodynamic force （〈1 N） and the torques （〈0.08 N-m） of dynamically moving soft arm were tiny, which leads to negligible inertial effect for the underwater vehicle than those of the traditional rigid underwater manipulator. Finally, we demonstrated underwater picking and placing tasks of the soft manipulator by using a computer program that controls the tip attitude and velocity. This study may inspire future underwater manipulators that have properties of low-inertial, low power cost and can safely interact with the aauatic environments.

关键词： bio-inspired soft robotic arm aquatic environment kinematics digital particle image velocimetry

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Pneumatically Actuated soft robotic arm for Adaptable Grasping

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Acta Mechanica Solida Sinica 2018年第5期31卷 608-622页

作者： Zhe Chen Xueya Liang Tonghao Wu Tenghao Yin Yuhai Xiang Shaoxing Qu State Key Laboratory of Fluid Power and Mechatronic System 38 Zheda Road Hangzhou 310027 China Key Laboratory of soft Machines and Smart Devices of Zhejiang Province 38 Zheda Road Hangzhou 310027 China Department of Engineering Mechanics Zhejiang University 38 Zheda Road Hangzhou 310027 China

Developing robotic manipulators capable of performing effective physical interac- tion tasks is a challenging topic. In this study, we design a soft robotic arm （SRA） with multiple degrees of freedom inspired by the flexible structures and the unique motion mechanism of the octopus arm. The SRA is fabricated with elastomeric materials, which consists of four series of integrated pneumatic chambers that play similar roles as the muscles in the octopus arm can achieve large bending in various directions with variable stiffness. This SRA displays specified movements via controlling pressure and selecting channels. Moreover, utilizing parallel control, the SRA demonstrates complicated three-dimensional motions. The force response and motion of the SRA are determined both experimentally and computationally. The applications of the present SRA include tightly coiling around the objects because of its large bending deformation （nearly 360°）, grasping multiple objects, and adjusting the grabbing mode in accordance with the shape of objects.

关键词： soft robotic arm Elastomeric materials soft manipulation Variable stiffness actuation

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