Active-Passive Composite Impedance Controller for Soft Robotic Arms
Author Information
Author(s): Yan Bo, Chen Yinglong, Zhou Cheng, Sun Qiang, Gao Fei, Yang Xinyu, Xiao Xingtian
Primary Institution: Dalian Maritime University
Hypothesis
Can integrating active impedance control with passive characteristics improve the control of soft robotic arms in constrained environments?
Conclusion
The active-passive composite impedance controller significantly enhances control performance and adaptability of soft robotic arms in complex environments.
Supporting Evidence
- The composite controller showed superior control performance compared to traditional methods.
- Simulations demonstrated improved adaptability of the soft robotic arm in various environments.
- Experimental results confirmed the controller's effectiveness in minimizing contact forces.
Takeaway
This study shows that combining active and passive control helps soft robotic arms move better and safer around obstacles.
Methodology
The study developed and tested an active-passive composite impedance controller through simulations and experiments.
Limitations
The study primarily focuses on simulations and may not account for all real-world variables.
Digital Object Identifier (DOI)
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