论文标题
软机器人流体致动器的串联弹性力控制
Series Elastic Force Control for Soft Robotic Fluid Actuators
论文作者
论文摘要
基于流体的软执行器是轻质和人体安全机器人的有吸引力的选择。这些执行器与流体压力反馈相结合，原则上是一种串联弹性致动（SEA）的形式，其中几乎所有驾驶点（例如电动机/变速箱）摩擦都可以消除。纤维启发器软执行器提供独特的低摩擦和低渗透性机械性能，这些特性特别适合基于内部压力反馈，而不是使用力/触觉传感的传统外力反馈，因为不连续（Coulomb）端点端点是不可能的，而不是使用力/触觉传感。但是，可以通过基于模型的前馈期限对端点平滑滞后的补偿。我们通过干扰观察者（DOB）（DOB）和基于模型的端点摩擦和非线性滞后率报告内部压力的反馈，这是由滚动式型线性驱动器驱动的2多重轻巧的机器人抓地力，并耦合到无线电驱动器，无需直接驱动的刷子动力，从而实现了50 Z-WINVEREDENPENTPOINTIMEDENTPOINS-FEREDERSEDENT PRIMEDENT PRIMEDENT（IMPEDENT）的范围。
Fluid-based soft actuators are an attractive option for lightweight and human-safe robots. These actuators, combined with fluid pressure force feedback, are in principle a form of series-elastic actuation (SEA), in which nearly all driving-point (e.g. motor/gearbox) friction can be eliminated. Fiber-elastomer soft actuators offer unique low-friction and low-hysteresis mechanical properties which are particularly suited to force-control based on internal pressure force feedback, rather than traditional external force feedback using force/tactile sensing, since discontinuous (Coulomb) endpoint friction is unobservable to internal fluid pressure. However, compensation of endpoint smooth hysteresis through a model-based feedforward term is possible. We report on internal-pressure force feedback through a disturbance observer (DOB) and model-based feedforward compensation of endpoint friction and nonlinear hysteresis for a 2-DOF lightweight robotic gripper driven by rolling-diaphragm linear actuators coupled to direct-drive brushless motors, achieving an active low-frequency endpoint impedance range ("Z-width") of 50dB.
