Motion Control of Soft Robots

Chapter 1: Introduction

• • 1.1 Overview
• • 1.2 Soft Robots
• • 1.3 Modelling
• • 1.3.1 Analytical Modelling Approaches
• • 1.3.2 Empirical Modelling Approaches
• • 1.4 Motion Control
• • 1.4.1 Feedforward Control
• • 1.4.2 Feedback Control
• • 1.5 Organization of the Book
• • Reference

Chapter 2: Soft Actuator Motion Control

• • 2.1 Model-Based Control
• • 2.2 Model-Free Control
• • 2.3 Bioinspired Control
• • 2.4 Chapter Summary
• • References

Chapter 3: Robust Motion Control of a Soft Inchworm Robot

• • 3.1 Introduction
• • 3.2 System Description
• • 3.2.1 Robot Design
• • 3.2.2 Robot-Motion Kinematics Analysis
• • 3.2.3 Robot Modelling
• • 3.3 Controller Design
• • 3.3.1 Model-Based Forward Controller
• • 3.3.2 PID-Based Feedback Controller
• • 3.3.3 Disturbance Observer-Based Compensation
• • 3.4 Experiments and Results
• • 3.4.1 Experimental System Setup
• • 3.4.2 Experimental Results
• • 3.5 Chapter Summary
• • References

Chapter 4: Bioinspired Approach for Motion Control of a Soft Actuator

• • 4.1 Introduction
• • 4.2 Problem Formulation
• • 4.3 Controller Design
• • 4.3.1 Cerebellum-Inspired Controller
• • 4.3.2 Stability Analysis
• • 4.4 Experiments and Results
• • 4.4.1 Experimental Results without Disturbance
• • 4.4.2 Experimental Results with Disturbance
• • 4.4.3 Discussions
• • 4.5 Chapter Summary
• • References

Chapter 5: Motion Control of a Circular Soft Robot via Iterative Learning Control

• • 5.1 Introduction
• • 5.2 System Description
• • 5.2.1 Robot Design
• • 5.2.2 Locomotion Analysis
• • 5.2.3 Knowledge-Based Modelling
• • 5.3 Controller Design
• • 5.4 Numerical Study
• • 5.5 Experiments and Results
• • 5.5.1 Experimental System Setup
• • 5.5.2 Experimental Results
• • 5.6 Chapter Summary
• • References

Chapter 6: Motion Control of a Manipulator Based on Dielectric Elastomer Actuators in Antagonistic Pairs

• • 6.1 Introduction
• • 6.2 System Description
• • 6.2.1 Mechanical Design
• • 6.2.2 Kinetics Analysis
• • 6.3 Controller Design
• • 6.3.1 Cerebellar Model Articulation Controller
• • 6.3.2 Compensation Controller
• • 6.3.3 Stability Analysis
• • 6.3.4 Overall Controller
• • 6.4 Experiments and Results
• • 6.4.1 Prototype
• • 6.4.2 Experimental Results
• • 6.5 Chapter Summary
• • References

Chapter 7: Intelligent Motion Control of Antagonistic McKibben Muscles

• • 7.1 Introduction
• • 7.2 System Description
• • 7.2.1 Mechanical Design
• • 7.2.2 System Modelling
• • 7.3 Controller Design
• • 7.3.1 Cerebellar Control Loop
• • 7.3.2 Cerebellum‑Like Controller Based on Spiking Neural Network
• • 7.4 Numerical Study
• • 7.4.1 Simulation Setup
• • 7.4.2 Simulation Results
• • 7.5 Experiments and Results
• • 7.5.1 Experimental System Setup
• • 7.5.2 Experimental Results
• • 7.6 Chapter Summary
• • References

Chapter 8: Learning-Based Motion Control of a Dielectric Elastomer Actuator-Driven Mobile Robot

• • 8.1 Introduction
• • 8.2 System Description
• • 8.2.1 Robot Design
• • 8.2.2 Morphology Analysis
• • 8.3 Controller Design
• • 8.3.1 Learning-Based Motion Control of a Soft Actuator
• • 8.3.2 Reinforcement Learning-Based Robot Motion Planning
• • 8.3.3 Overall Framework
• • 8.4 Numerical Study
• • 8.5 Experiments and Results
• • 8.5.1 Experimental System Setup
• • 8.5.2 Experimental Results
• • 8.6 Chapter Summary
• • References