Design and control of a novel variable stiffness soft arm

Hao, L, Chaoqun, X, Giannaccini, ME, Cheng, H, Zhang, Y, Nefti-Meziani, S and Davis, ST ORCID: 2018, 'Design and control of a novel variable stiffness soft arm' , Advanced Robotics, 32 (11) , pp. 605-622.

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Soft robot arms possess such characteristics as light weight, simple structure and good adaptability to the environment, among others. On the other hand, robust control of soft robot arms presents many difficulties. Based on these reasons, this paper presents a novel design and modelling of a fuzzy active disturbance rejection control (FADRC) controller for a soft PAM arm. The soft arm comprises three contractile and one extensor PAMs, which can vary its stiffness independently of its position in space. Force analysis for the soft arm is conducted, and stiffness model of the arm is established based on the relational model of contractile and extensor PAM. The accuracy of stiffness model for the soft arm was verified through experiments. Associated to this, a controller based on the fuzzy adaptive theory and ADRC, FADRC, has been designed to control the arm. The fuzzy adaptive theory is used to adjust the parameters of the ADRC, the control algorithm has the ability to control stiffness and position of the soft arm. In this paper, FADRC was further verified through comparative experiments on the soft arm. This paper reinforces the hypothesis that FADRC control, as an algorithm, indeed possesses good robustness and adaptive abilities.

Key words: soft robot, variable stiffness, PAM, stiffness modelling, FADRC

Item Type: Article
Schools: Schools > School of Computing, Science and Engineering > Salford Innovation Research Centre
Journal or Publication Title: Advanced Robotics
Publisher: Taylor & Francis
ISSN: 0169-1864
Related URLs:
Depositing User: ST Davis
Date Deposited: 27 Apr 2018 09:23
Last Modified: 15 Feb 2022 23:10

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