A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot

Emilio Tavio y Cabrera, Cosimo Della Santina, Pablo Borja

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


The compliant nature of soft robots is appealing to a wide range of applications. However, this compliant property also poses several control challenges, e.g., how to deal with infinite degrees of freedom and highly nonlinear behaviors. This paper proposes a hybrid controller for a pneumatic-actuated soft robot. To this end, a model-based feedforward controller is designed and combined with a correction torque calculated via Gaussian process regression. Then, the proposed model-based and hybrid controllers are experimentally validated, and a detailed comparison between controllers is presented. Notably, the experimental results highlight the potential benefits of adding a learning approach to a model-based controller to enhance the closed-loop performance while reducing the computational load exhibited by purely learning strategies.

Original languageEnglish
Title of host publicationHuman-Friendly Robotics 2023 - HFR
Subtitle of host publication16th International Workshop on Human-Friendly Robotics
EditorsCristina Piazza, Patricia Capsi-Morales, Luis Figueredo, Manuel Keppler, Hinrich Schütze
PublisherSpringer Nature
Number of pages17
ISBN (Print)9783031549991
StatePublished - 2024
Externally publishedYes
Event16th International Workshop on Human-Friendly Robotics, HFR 2023 - Munich, Germany
Duration: 20 Sep 202321 Sep 2023

Publication series

NameSpringer Proceedings in Advanced Robotics
Volume29 SPAR
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264


Conference16th International Workshop on Human-Friendly Robotics, HFR 2023


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