High-Performance Hydraulic Soft Robotic Control Using Continuous Flow Regulation and Partial Feedback

Wu, Shijian1,2; Tang, Kailuan2,3; Tang, Shaowu2,4; Liu, Sicong2; Yi, Juan1,2; Dai, Jian Sheng1,2; Wang, Zheng2

2024-08-01

10.1109/LRA.2024.3416770

IEEE ROBOTICS AND AUTOMATION LETTERS   影响因子和分区

2377-3766

Hydraulic-driven soft robots have received much less attention than their pneumatic counterparts. However, the incompressibility of liquid could bring a series of desirable attributes to soft robotic control, despite the apparent disadvantage of weight addition and compliance compromise resulting from the liquid medium itself, as well as the performance limitations of the hydraulic pump and valve systems being used. In this article, we introduce a Hydraulic Actuation with Wide-range Flow regulation (HAWF) as the fundamental inner control loop, and propose a soft robotic hydraulic control framework with Characteristics-based Control and Partial State feedback (CCPS), exploiting the desirable features of flow-regulating devices such as peristaltic pumps, achieving accurate and fast-responding position/force regulation on different soft actuators. The proposed control framework is validated with different control devices for comparisons, with promising results. The proposed framework could be generalizable to other hydraulic-driven systems towards control performance and simplified system setup across different applications.

Motors Hydraulic systems Soft robotics Actuators Valves Regulation Magnetic liquids Flow regulation hydraulic actuation position/ force regulation soft robotics

SCI ; EI

英语

第一 ; 通讯

NSFC[52105021] ; Shenzhen Science, Tech. and Innovation Commission["ZDSYS20220527171403009","RCBS20210609104446099"]

Robotics

Robotics

WOS:001258864000011

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

20242616301506

Compliance control ; Hydraulic actuators ; Robotics

Control Systems:731.1 ; Specific Variables Control:731.3 ; Robotics:731.5 ; Control Equipment:732.1

Web of Science

1.Southern Univ Sci & Technol, Shenzhen Key Lab Intelligent Robot & Flexible Mfg, Shenzhen 518055, Peoples R China
2.Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen 518055, Peoples R China
3.Harbin Inst Technol, Sch Mechatron Engn, Harbin 150001, Peoples R China
4.Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen 518055, Peoples R China

Wu, Shijian,Tang, Kailuan,Tang, Shaowu,et al. High-Performance Hydraulic Soft Robotic Control Using Continuous Flow Regulation and Partial Feedback[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2024,9(8):6967-6974.

Wu, Shijian.,Tang, Kailuan.,Tang, Shaowu.,Liu, Sicong.,Yi, Juan.,...&Wang, Zheng.(2024).High-Performance Hydraulic Soft Robotic Control Using Continuous Flow Regulation and Partial Feedback.IEEE ROBOTICS AND AUTOMATION LETTERS,9(8),6967-6974.

Wu, Shijian,et al."High-Performance Hydraulic Soft Robotic Control Using Continuous Flow Regulation and Partial Feedback".IEEE ROBOTICS AND AUTOMATION LETTERS 9.8(2024):6967-6974.