In this article, we investigate the model based position control of soft hydraulic actuators arranged in an antagonistic 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.
@article{arxiv.2302.11311,
title = {Model Based Position Control of Soft Hydraulic Actuators},
author = {Mark Runciman and Enrico Franco and James Avery and Ferdinando Rodriguez y Baena and George Mylonas},
journal= {arXiv preprint arXiv:2302.11311},
year = {2023}
}
Comments
Final Version of Paper, updated figures and discussion. Accepted for IEEE International Conference on Robotics and Automation ICRA 2023