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Browsing by Subject "Pneumatic actuators"

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Learning-based Position and Stiffness Feedforward Control of Antagonistic Soft Pneumatic Actuators using Gaussian Processes

Habich, Tim-Lukas; Kleinjohann, Sarah; Schappler, Moritz (Piscataway, NJ : IEEE, 2023-05-15)

Variable stiffness actuator (VSA) designs are manifold. Conventional model-based control of these nonlinear systems is associated with high effort and design-dependent assumptions. In contrast, machine learning offers a ...
A Parameter Identification Method for Static Cosserat Rod Models: Application to Soft Material Actuators with Exteroceptive Sensors

Bartholdt, Max; Wiese, Mats; Schappler, Moritz; Spindeldreier, Svenja; Raatz, Annika (Piscataway, NJ : IEEE, 2021-12-16)

Soft material robotics is a rather young research field in the robotics and material science communities. A popular design is the soft pneumatic actuator (SPA) which, if connected serially, becomes a highly compliant ...
Towards a Modular Framework for Visco-Hyperelastic Simulations of Soft Material Manipulators with Well-Parameterised Material

Bartholdt, Max; Berthold, Rebecca; Schappler, Moritz (Piscataway, NJ : IEEE, 2023-05-15)

Controller design for continuum robots maintains to be a difficult task. Testing controllers requires dedicated work in manufacturing and investment into hardware as well as software, to acquire a test bench capable of ...
Ultrasonic friction reduction in elastomer - Metal contacts and application to pneumatic actuators

Pham, T.M.; Twiefel, J. (Amsterdam : Elsevier, 2015)

Ultrasonic friction reduction is well known in metal-metal contacts. Due to the vibration, the stick phase in the contact phase vanishes and only sliding occurs. As long as the macroscopic relative velocity of the contact ...

Now showing items 1-4 of 4

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Browsing by Subject "Pneumatic actuators"

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