Design and Closed-loop Control of a Tri-layer Polypyrrole based Telescopic Soft Robot
| Affiliation auteurs | !!!! Error affiliation !!!! |
| Titre | Design and Closed-loop Control of a Tri-layer Polypyrrole based Telescopic Soft Robot |
| Type de publication | Conference Paper |
| Year of Publication | 2016 |
| Auteurs | Chikhaoui MTaha, Cot A, Rabenorosoa K, Rougeot P, Andreff N |
| Conference Name | 2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016) |
| Publisher | IEEE; RSJ |
| Conference Location | 345 E 47TH ST, NEW YORK, NY 10017 USA |
| ISBN Number | 978-1-5090-3762-9 |
| Résumé | A novel structure of a 2 DoF telescopic soft robot using a tri-layer Polypyrrole (PPy) soft micro-actuator with deployment is presented in this paper. The kinematic model is introduced and the Position Based Visual Servo (PBVS) control with path-planning and obstacle avoidance algorithms is developed. A prototype is presented and the control schemes are validated experimentally. A satisfactory accuracy with a sub-millimetric positioning error is obtained namely 287.6 microns for a circular path and 210 microns for obstacle avoidance. |