Abstract
Artificial cilia are a prominent example of physical intelligence. Their mechanical properties are often designed so to achieve desired motions in response to very simple actuation patterns. Yet, variability in the mechanical properties are inherent in these systems. This may critically disrupt the input-output relation, resulting in a final behavior completely different from the desired one. In this Communication we investigate the possibility of designing a robotic brain that helps the cilium to maintain its physical intelligence. We achieve that by closing a model-based control loop which tracks the position of the end effector while compensating for drag forces. We propose experiments to characterize our model, and extensive simulations validating the results in different conditions. This work is intended as a proof of concept, which will be further expanded in future work.
Original language | English |
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Title of host publication | Proceedings of the IEEE 4th International Conference on Soft Robotics, RoboSoft 2021 |
Place of Publication | Piscataway, NJ, USA |
Publisher | IEEE |
Pages | 527-530 |
ISBN (Electronic) | 978-1-7281-7713-7 |
DOIs | |
Publication status | Published - 2021 |
Event | 4th IEEE International Conference on Soft Robotics, RoboSoft 2021 - New Haven, United States Duration: 12 Apr 2021 → 16 Apr 2021 |
Conference
Conference | 4th IEEE International Conference on Soft Robotics, RoboSoft 2021 |
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Country/Territory | United States |
City | New Haven |
Period | 12/04/21 → 16/04/21 |
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-careOtherwise 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.