Embedded fuzzy logic controller for positive and negative pressure control in pneumatic soft robotsOguntosin, V., Nasuto, S. and Hayashi, Y. (2018) Embedded fuzzy logic controller for positive and negative pressure control in pneumatic soft robots. In: 2017 UKSim-AMSS 19th International Conference on Modelling & Simulation, 5-7 April 2017, Cambridge, U.K..
It is advisable to refer to the publisher's version if you intend to cite from this work. See Guidance on citing. Official URL: https://doi.org/10.1109/UKSim.2017.41 Abstract/SummaryA key challenge in soft robotics is controlling the large deformation experienced as a result of high compliance nature of soft robots. In this work, a software control strategy for regulating the amount of internal positive and negative air pressure inside pneumatic soft robots is presented. Since the air pressure has a direct effect on the amount of deformation, the position of the robot is controlled. Pressure control was implemented with a fuzzy logic controller, which is described with its performance shown. The approach can be integrated into any specified soft robotic actuator requiring pneumatic actuation e.g. bending, triangular and muscle actuators.
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