Energy based control of a bi-stable and underactuated soft robotic system based on dielectric elastomer actuators
In this paper, we propose an energy based control approach for a class of underactuated
soft robotic systems. The considered case study consists of an elastic structure driven by soft …
soft robotic systems. The considered case study consists of an elastic structure driven by soft …
Design and performance of a slender soft continuum manipulator for tall structure inspection
MT Shoani, MN Ribuan… - Industrial Robot: the …, 2023 - emerald.com
Purpose The current methods for inspecting tall or deep structures such as towers,
chimneys, silos, and wells suffer from certain constraints. Manual and assisted inspection …
chimneys, silos, and wells suffer from certain constraints. Manual and assisted inspection …
Nonlinear Coordinate Transformation and Trajectory Tracking Control of an Underactuated Soft Robot Driven by Dielectric Elastomers
In this paper, we investigate model-based trajectory tracking position control of an
articulated soft robotic system driven by rolled dielectric elastomer actuators. The system's …
articulated soft robotic system driven by rolled dielectric elastomer actuators. The system's …
Mixed Control of a Soft Robotic Structure Actuated by Dielectric Elastomers
Dielectric Elastomer Actuators (DEAs) are an efficient and compact solution to build soft
robotic structures. Due to their non-conventional characteristics, soft robots bring new …
robotic structures. Due to their non-conventional characteristics, soft robots bring new …