A Novel Approach to Under-Actuated Control of Fluidic Systems

Antonio Di Lallo1, Manuel Giuseppe Catalano2, Manolo Garabini3, Giorgio Grioli2, Marco Gabiccini3, Antonio Bicchi3

  • 1Università di Pisa
  • 2Istituto Italiano di Tecnologia
  • 3University of Pisa

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Category

Interactive Session

Sessions

10:30 - 13:00 | Tue 22 May | podD | TuA@D

Soft Robots 1

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Abstract

Thanks to the growing interest in soft robotics, hydropneumatics and inflatable system dynamics are attracting renewed attention from the scientific community. Typical fluidic systems are composed of several chambers and require a complex and bulky network of active components for their control. This paper presents a novel approach to fluidic actuation, which consists in the co-design of both the mechanical parameters of the system and of custom input signals, to enable the elicitation of different behaviors of the system with fewer control components. The principle is presented in theory and simulation and then experimentally validated through the application to a case study, an in-pipe inchworm-like robot. It is shown that it is possible to obtain forward and backward movements by modulating a unique input.

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Summary

Different inflation sequences elicited by different input profiles

  • An under-actuated approach to control soft robots with fluidic actuation is investigated.
  • Co-design of both the mechanical parameters of the system and of custom input signals enables the elicitation of different behaviors of the system with fewer control components.
  • The principle is validated through the application to the case study of an inchworm-like robot for in-pipe inspection.