Runciman, M., Franco, E., Avery, J. orcid.org/0000-0002-4015-1802 et al. (2 more authors) (2023) Model Based Position Control of Soft Hydraulic Actuators. In: Proceedings of 2023 IEEE International Conference on Robotics and Automation (ICRA). 2023 IEEE International Conference on Robotics and Automation (ICRA), 29 May - 02 Jun 2023, London, United Kingdom. IEEE , pp. 2676-2682. ISBN 979-8-3503-2365-8
Abstract
In this article, we investigate the model based position control of soft hydraulic actuators arranged in an an-tagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm is designed with an energy shaping approach, which accounts for the pressure dynamics of the fluid. A nonlinear observer is included to compensate the effect of unknown external forces. Simulations demonstrate the effectiveness of the proposed approach, and experiments achieve positioning accuracy of 0.043 mm with a standard deviation of 0.033 mm in the presence of constant external forces up to 1 N.
Metadata
Item Type: | Proceedings Paper |
---|---|
Authors/Creators: |
|
Copyright, Publisher and Additional Information: | © 2023 IEEE. This is an author produced version of a conference paper published in 2023 IEEE International Conference on Robotics and Automation (ICRA), made available under the terms of the Creative Commons Attribution License (CC-BY), which permits unrestricted use, distribution and reproduction in any medium, provided the original work is properly cited. |
Dates: |
|
Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 01 Feb 2024 11:29 |
Last Modified: | 01 Feb 2024 11:29 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/icra48891.2023.10161573 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:208515 |