A Desktop-sized Platform for Real-time Control Applications of Pneumatic Soft Robots

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

16 Citaten (Scopus)
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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-2Engels
Titel2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's217-223
Aantal pagina's7
ISBN van elektronische versie978-1-6654-0828-8
DOI's
StatusGepubliceerd - 28 apr. 2022
Evenement5th IEEE International Conference on Soft Robotics, RoboSoft 2022 - Edinburgh, Verenigd Koninkrijk
Duur: 4 apr. 20228 apr. 2022

Congres

Congres5th IEEE International Conference on Soft Robotics, RoboSoft 2022
Land/RegioVerenigd Koninkrijk
StadEdinburgh
Periode4/04/228/04/22

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