Position Control and Variable-Height Trajectory Tracking of a Soft Pneumatic Legged Robot

被引:7
|
作者
Liu, Zhichao [1 ]
Karydis, Konstantinos [1 ]
机构
[1] Univ Calif Riverside, Dept Elect & Comp Engn, Riverside, CA 92521 USA
来源
2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2021年
关键词
KINEMATICS; DESIGN;
D O I
10.1109/IROS51168.2021.9635966
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the intricacies of the terrain at hand, thus enabling robust and resilient locomotion. In this paper we capitalize upon recent developments on soft pneumatic legged robots to introduce a closed-loop trajectory tracking control scheme for operation over flat ground. Closed-loop pneumatic actuation feedback is achieved via a compact and portable pneumatic regulation board. Experimental results reveal that our soft legged robot can precisely control its body height and orientation while in quasi-static operation based on a geometric model. The robot can track both straight line and curved trajectories as well as variable-height trajectories. This work lays the basis to enable autonomous navigation for soft legged robots.
引用
收藏
页码:1708 / 1715
页数:8
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