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Title: Iterative Learning Control for Motion Trajectory Tracking of a Circular Soft Crawling Robot
Authors: Chi, H.
Li, X.
Liang, W. 
Cao, J. 
Ren, Q.
Keywords: dielectric elastomer actuator
electro-adhesion actuator
knowledge-guided data-driven modeling
soft crawling robot
Issue Date: 2019
Publisher: Frontiers Media S.A.
Citation: Chi, H., Li, X., Liang, W., Cao, J., Ren, Q. (2019). Iterative Learning Control for Motion Trajectory Tracking of a Circular Soft Crawling Robot. Frontiers in Robotics and AI 6 : 113. ScholarBank@NUS Repository.
Rights: Attribution 4.0 International
Abstract: Soft robots have recently received much attention with their infinite degrees of freedoms and continuously deformable structures, which allow them to adapt well to the unstructured environment. A new type of soft actuator, namely, dielectric elastomer actuator (DEA) which has several excellent properties such as large deformation and high energy density is investigated in this study. Furthermore, a DEA-based soft robot is designed and developed. Due to the difficulty of accurate modeling caused by nonlinear electromechanical coupling and viscoelasticity, the iterative learning control (ILC) method is employed for the motion trajectory tracking with an uncertain model of the DEA. A D2 type ILC algorithm is proposed for the task. Furthermore, a knowledge-based model framework with kinematic analysis is explored to prove the convergence of the proposed ILC. Finally, both simulations and experiments are conducted to demonstrate the effectiveness of the ILC, which results show that excellent tracking performance can be achieved by the soft crawling robot. © Copyright © 2019 Chi, Li, Liang, Cao and Ren.
Source Title: Frontiers in Robotics and AI
ISSN: 22969144
DOI: 10.3389/frobt.2019.00113
Rights: Attribution 4.0 International
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