Samenvatting
In recent years, there have been many modeling and control advances in the field of soft robotics, which resulted in a growing interest in practical, real-time applications. To further enable these developments, we present a desktop-sized testing and development platform intended for fast, precise, and reliable (closed-loop) control of pneumatic soft robots. The Soft Robotics Control-unit (SRC) is fully compatible with Matlab, Simulink, and Unity, allowing for real-time control tasks of various complexity. The system's performance is tested in three use-cases: model-based controller design, soft haptic feedback in virtual-reality, and tele-operation of a soft gripper. To promote the use of the SRC in the soft robotics community, all presented material is fully open-sourced such that it is easily reproducible by students or researchers from any technical background.
Originele taal-2 | Engels |
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Titel | 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) |
Uitgeverij | Institute of Electrical and Electronics Engineers |
Pagina's | 217-223 |
Aantal pagina's | 7 |
ISBN van elektronische versie | 978-1-6654-0828-8 |
DOI's | |
Status | Gepubliceerd - 28 apr. 2022 |
Evenement | 5th IEEE International Conference on Soft Robotics, RoboSoft 2022 - Edinburgh, Verenigd Koninkrijk Duur: 4 apr. 2022 → 8 apr. 2022 |
Congres
Congres | 5th IEEE International Conference on Soft Robotics, RoboSoft 2022 |
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Land/Regio | Verenigd Koninkrijk |
Stad | Edinburgh |
Periode | 4/04/22 → 8/04/22 |