ORCID
- Pablo Borja: 0000-0001-7744-0846
Abstract
The compliant nature of soft robots is appealing to a wide range of applications. However, this compliant property also poses several control challenges, e.g., how to deal with infinite degrees of freedom and highly nonlinear behaviors. This paper proposes a hybrid controller for a pneumatic-actuated soft robot. To this end, a model-based feedforward controller is designed and combined with a correction torque calculated via Gaussian process regression. Then, the proposed model-based and hybrid controllers are experimentally validated, and a detailed comparison between controllers is presented. Notably, the experimental results highlight the potential benefits of adding a learning approach to a model-based controller to enhance the closed-loop performance while reducing the computational load exhibited by purely learning strategies.
DOI
10.1007/978-3-031-55000-3_2
Publication Date
2024-03-10
Publication Title
Human-Friendly Robotics 2023 - HFR: 16th International Workshop on Human-Friendly Robotics
ISBN
9783031549991
First Page
19
Last Page
35
Recommended Citation
Borja, P., Tavio y Cabrera, E., & Santina, C. (2024) 'A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot', Human-Friendly Robotics 2023 - HFR: 16th International Workshop on Human-Friendly Robotics, , pp. 19-35. Available at: https://doi.org/10.1007/978-3-031-55000-3_2
