Affiliation:
1. School of Electrical Engineering, Zhengzhou University, Zhengzhou 450001, P. R. China
2. School of Electronic and Computer Science, University of Southampton, Southampton SO171BJ, UK
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.
Funder
National Key Research and Development Project
National Natural Science Foundation of China
Outstanding Foreign Scientist Support Project of Henan Province
Science & Technology Research Project in Henan Province of China
Publisher
World Scientific Pub Co Pte Lt
Subject
Artificial Intelligence,Mechanical Engineering
Cited by
2 articles.
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