Control of a pneumatically actuated, fully inflatable, fabric-based, humanoid robot

Best, Charles M.; Wilson, Joshua P.; Killpack, Marc D.

doi:10.1109/humanoids.2015.7363495

Cited by 49 publications

(34 citation statements)

References 26 publications

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“…For this system, the joint and link structure come from inflatable polymer bladders within nonrigid fabrics, resulting in an entirely compliant platform. The model proposed in this work expands on the model used in [2] in order to account for the pressures in each bladder. Doing so allows for control of both position and stiffness.…”

Section: Related Workmentioning

confidence: 99%

“…Previous work has been completed by Best et al [2] on the single joint control of this platform. While effective at angle tracking, the work only utilized change in angle and angular velocity as states and did not permit the modulation of stiffness.…”

Section: Single Joint Dynamics and Control A Dynamicsmentioning

confidence: 99%

“…In [2], a steady state joint angle response for a range of different pressure inputs was produced. This plot, seen in Figure 3, produced a general trend to relate angle and pressures in both bladders but control accuracy was limited by hysteresis in the real platform.…”

Section: Single Joint Dynamics and Control A Dynamicsmentioning

confidence: 99%

“…This angle is the angle the system would settle to based upon given input pressures, if the chambers were drained and then filled to the input pressures. Unlike the past work in [2], this equilibrium angle was then used in an impedance model to describe torque at the joint as a torsional spring:…”

Section: Single Joint Dynamics and Control A Dynamicsmentioning

confidence: 99%

“…• First application of Model Predictive Control to soft robots that allows simultaneous control of joint position and stiffness. • A controller which shows significant improvement in terms of overshoot, rise time and settling time of joint control as compared to past work [2]. The rest of this paper is organized as follows, in Section II we discuss past related research.…”

Section: Introductionmentioning

confidence: 99%

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Simultaneous position and stiffness control for an inflatable soft robot

Gillespie

Best

Killpack

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Soft robot research has led to the development of platforms that should allow for better performance when working in uncertain or dynamic environments. The potential improvement in performance of these platforms ranges from mechanical robustness to high forces, to applying lower incidental contact forces in uncertain situations. However, the promise of these platforms is limited by the difficulty of controlling them. In this paper, we present preliminary results on simultaneously controlling stiffness and position for a pneumatically actuated soft robot. Improving on our prior work, we show that by including the pressure in our soft robot actuation chambers as state variables we can improve our average rise time by up to 137%, settling time by 119%, and overshoot by 853%. In addition to these improvements, we can now control both joint position and stiffness simultaneously. This performance improvement comes from using Model Predictive Control running at 300 Hz with improved dynamic models of the soft robot. High performance control of soft robot joints, such as the joint presented in this paper, will enable a wide range of robot applications that were previously difficult or impossible due to the rigid nature of traditional robot linkages and actuation schemes.

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Section: Related Workmentioning

confidence: 99%

Section: Single Joint Dynamics and Control A Dynamicsmentioning

confidence: 99%

Section: Single Joint Dynamics and Control A Dynamicsmentioning

confidence: 99%

Section: Single Joint Dynamics and Control A Dynamicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Simultaneous position and stiffness control for an inflatable soft robot

Gillespie

Best

Killpack

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Puffy: A Mobile Inflatable Interactive Companion for Children with Neurodevelopmental Disorder

Garzotto

Gelsomini

Kinoe

2017

Human-Computer Interaction - INTERACT 2017

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Puffy is a robotic companion that has been designed in cooperation with a team of therapists and special educators as a learning & play companion for children with Neurodevelopmental Disorder (NDD). Puffy has a combination of features that support multisensory stimuli and multimodal interaction and make this robot unique with respect to existing robotic devices used for children with NDD. The egg-shaped body of Puffy is inflatable, soft, and mobile. Puffy can interpret child's gestures and movements, facial expressions and emotions; it communicates with the child using voice, lights and projections embedded in its body, as well as movements in space. The paper discusses the principles and requirements underlying the design of Puffy. They take into account the characteristics of NDD and the special needs of children with disorders in the NDD spectrum, and provide guidelines for designers and developers who work in socially assistive robotics for this target group. We also compare Puffy against 21 existing commercial or research robots that have been used with NDD children, and briefly report a preliminary evaluation of our robot.

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Film-based anisotropic balloon inflatable bending actuator

Jung

Rodrigue

2019

J Mech Sci Technol

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Control of a pneumatically actuated, fully inflatable, fabric-based, humanoid robot

Cited by 49 publications

References 26 publications

Simultaneous position and stiffness control for an inflatable soft robot

Simultaneous position and stiffness control for an inflatable soft robot

Puffy: A Mobile Inflatable Interactive Companion for Children with Neurodevelopmental Disorder

Film-based anisotropic balloon inflatable bending actuator

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