A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot

Emilio Tavio y Cabrera; Cosimo Della Santina; Pablo Borja

doi:10.1007/978-3-031-55000-3_2

A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot

Emilio Tavio y Cabrera, Cosimo Della Santina, Pablo Borja^*

^*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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.

Original language	English
Title of host publication	Human-Friendly Robotics 2023 - HFR
Subtitle of host publication	16th International Workshop on Human-Friendly Robotics
Editors	Cristina Piazza, Patricia Capsi-Morales, Luis Figueredo, Manuel Keppler, Hinrich Schütze
Publisher	Springer
Pages	19-35
Number of pages	17
ISBN (Print)	978-3-031-54999-1
DOIs	https://doi.org/10.1007/978-3-031-55000-3_2
Publication status	Published - 2024
Event	16th International Workshop on Human-Friendly Robotics, HFR 2023 - Munich, Germany Duration: 20 Sept 2023 → 21 Sept 2023

Publication series

Name	Springer Proceedings in Advanced Robotics
Volume	29 SPAR
ISSN (Print)	2511-1256
ISSN (Electronic)	2511-1264

Conference

Conference	16th International Workshop on Human-Friendly Robotics, HFR 2023
Country/Territory	Germany
City	Munich
Period	20/09/23 → 21/09/23

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Access to Document

10.1007/978-3-031-55000-3_2

Cite this

Tavio y Cabrera, E., Santina, C. D., & Borja, P. (2024). A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot. In C. Piazza, P. Capsi-Morales, L. Figueredo, M. Keppler, & H. Schütze (Eds.), Human-Friendly Robotics 2023 - HFR: 16th International Workshop on Human-Friendly Robotics (pp. 19-35). (Springer Proceedings in Advanced Robotics; Vol. 29 SPAR). Springer. https://doi.org/10.1007/978-3-031-55000-3_2

Tavio y Cabrera, Emilio ; Santina, Cosimo Della ; Borja, Pablo. / A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot. Human-Friendly Robotics 2023 - HFR: 16th International Workshop on Human-Friendly Robotics. editor / Cristina Piazza ; Patricia Capsi-Morales ; Luis Figueredo ; Manuel Keppler ; Hinrich Schütze. Springer, 2024. pp. 19-35 (Springer Proceedings in Advanced Robotics).

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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.",

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note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; 16th International Workshop on Human-Friendly Robotics, HFR 2023 ; Conference date: 20-09-2023 Through 21-09-2023",

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Tavio y Cabrera, E, Santina, CD & Borja, P 2024, A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot. in C Piazza, P Capsi-Morales, L Figueredo, M Keppler & H Schütze (eds), Human-Friendly Robotics 2023 - HFR: 16th International Workshop on Human-Friendly Robotics. Springer Proceedings in Advanced Robotics, vol. 29 SPAR, Springer, pp. 19-35, 16th International Workshop on Human-Friendly Robotics, HFR 2023, Munich, Germany, 20/09/23. https://doi.org/10.1007/978-3-031-55000-3_2

A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot. / Tavio y Cabrera, Emilio; Santina, Cosimo Della; Borja, Pablo.
Human-Friendly Robotics 2023 - HFR: 16th International Workshop on Human-Friendly Robotics. ed. / Cristina Piazza; Patricia Capsi-Morales; Luis Figueredo; Manuel Keppler; Hinrich Schütze. Springer, 2024. p. 19-35 (Springer Proceedings in Advanced Robotics; Vol. 29 SPAR).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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Tavio y Cabrera E, Santina CD, Borja P. A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot. In Piazza C, Capsi-Morales P, Figueredo L, Keppler M, Schütze H, editors, Human-Friendly Robotics 2023 - HFR: 16th International Workshop on Human-Friendly Robotics. Springer. 2024. p. 19-35. (Springer Proceedings in Advanced Robotics). doi: 10.1007/978-3-031-55000-3_2