Analysis and prospect of soft robot drive control technology

Zhiruo Wang

doi:10.54254/2755-2721/10/20230121

Research Article

Open access

Published on 25 September 2023

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Wang,Z. (2023). Analysis and prospect of soft robot drive control technology. Applied and Computational Engineering,10,17-22.

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Analysis and prospect of soft robot drive control technology

Zhiruo Wang *^,1,

¹ Southwest Jiaotong University

* Author to whom correspondence should be addressed.

https://doi.org/10.54254/2755-2721/10/20230121

Abstract

Soft robots have become an emerging field of research with the advancement of science and technology. It has the advantages: flexible, soft and fast. It has good results within narrow space work and has great research potential in disaster relief, exploration and medical treatment. It has a theoretically infinite number of degrees of freedom, but degrees of freedom and actuators do not always correspond in a straightforward one-to-one manner, making it difficult to achieve accurate, control-accurate modelling. It is worth exploring how modelling techniques and sensor control techniques can be optimized to improve control accuracy and achieve human-machine interaction. In addition, most actuators currently use a single drive method, which leads to the limitations of redundant degree of freedom control. Combining multiple drive methods while ensuring drive control accuracy and drive force is also a future research direction. In this paper, the current state of control and drive research in soft robots will be introduced. Then three control modelling methods - modelled, modeless and hybrid control will be discussed in detail. Three common drive methods will be mentioned - fluid drive, SMA drive and EAP drive. A prospect on the control methods and drive mode of soft robots will be given. This paper is useful for robotics research.

Keywords

soft robots, automation, control.

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References

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Cite this article

Wang,Z. (2023). Analysis and prospect of soft robot drive control technology. Applied and Computational Engineering,10,17-22.

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About volume

Volume title: Proceedings of the 2023 International Conference on Mechatronics and Smart Systems

Conference website: https://2023.confmss.org/

ISBN：978-1-83558-009-7(Print) / 978-1-83558-010-3(Online)

Conference date: 24 June 2023

Editor：Alan Wang, Seyed Ghaffar

Series: Applied and Computational Engineering

Volume number: Vol.10

ISSN：2755-2721(Print) / 2755-273X(Online)

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