Embedding control in inchworm-based soft actuator

  title={Embedding control in inchworm-based soft actuator},
  author={Mathieu Nierenberger and Laurent Barb{\'e} and Benoit Wach and Pierre Renaud},
The development of an inchworm-based soft actuator with embedded control is presented. Design of pressure loss integrated on purpose within the actuator is being used to simplify the overall control of the actuator. The latter is based on multimaterial additive manufacturing. Dynamic model is compared to experimental behaviour. Prediction accuracy is encouraging and performances of interest for the applicative context. 

From This Paper

Figures, tables, and topics from this paper.


Publications referenced by this paper.

Inchworm inspired pneumatic soft robot based on friction hysteresis

  • J. Ning, C. Ti, Y. Liu
  • Journal of Robotics and Automation, vol. 1, no. 2…
  • 2017
1 Excerpt

The design and control of the multi-modal locomotion origami robot, Tribot

  • Z. Zhaypov, M. Falahi, M. Shah, J. Paik
  • IEEE Int. Conf. on Robotics and Automation, , pp…
  • 2015
1 Excerpt

Similar Papers

Loading similar papers…