Model-Based Control of Planar Piezoelectric Inchworm Soft Robot for Crawling in Constrained Environments

Zhiwu Zheng, Prakhar Kumar, Yenan Chen, Hsin Cheng, Sigurd Wagner, Minjie Chen, Naveen Verma, James C. Sturm

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges for precise and robust shape control in real-time. Motivated by their potential to operate in highly-constrained environments, as in search-and-rescue operations, this work addresses these challenges of soft-robots by developing a model-based full-shape controller, validated and demonstrated by experiments. A five-actuator planar soft robot was constructed with planar piezoelectric layers bonded to a steel foil substrate, enabling inchworm-like motion. The controller uses a soft-body continuous model for shape planning and control, given target shapes and/or environmental constraints, such as crawling under overhead barriers or 'roof' safety lines. An approach to background model calibrations is developed to address deviations of actual robot shape due to material parameter variations and drift. Full experimental shape control and optimal movement under a roof safety line are demonstrated, where the robot maximizes its speed within the overhead constraint. The mean-squared error between the measured and target shapes improves from 0.05 cm2without calibration to 0.01 cm2with calibration. Simulation-based validation is also performed with various different roof shapes.

Original languageEnglish (US)
Title of host publication2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages693-698
Number of pages6
ISBN (Electronic)9781665408288
DOIs
StatePublished - 2022
Event5th IEEE International Conference on Soft Robotics, RoboSoft 2022 - Edinburgh, United Kingdom
Duration: Apr 4 2022Apr 8 2022

Publication series

Name2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022

Conference

Conference5th IEEE International Conference on Soft Robotics, RoboSoft 2022
Country/TerritoryUnited Kingdom
CityEdinburgh
Period4/4/224/8/22

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering
  • Control and Optimization

Fingerprint

Dive into the research topics of 'Model-Based Control of Planar Piezoelectric Inchworm Soft Robot for Crawling in Constrained Environments'. Together they form a unique fingerprint.

Cite this