@inproceedings{a4dfcd58a71643fba9a1fe231d809013,
title = "An Experimental Study of Model-Based Control for Planar Handed Shearing Auxetics Robots",
abstract = "Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials. However, their control is especially challenging due to varying and coupled stiffness, shearing, non-affine terms in the actuation model, and underactuation. In this paper, we present a model-based control strategy for planar HSA robots enabling regulation in task space. We formulate equations of motion, show that they admit a collocated form, and design a P-satI-D feedback controller with compensation for elastic and gravitational forces. We experimentally identify and verify the proposed control strategy in closed loop.",
keywords = "Model-based Control, Soft Robotics, Underactuation",
author = "Maximilian St{\"o}lzle and Daniela Rus and {Della Santina}, Cosimo",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.; 18th International Symposium on Experimental Robotics, ISER 2023 ; Conference date: 26-11-2023 Through 30-11-2023",
year = "2024",
doi = "10.1007/978-3-031-63596-0_14",
language = "English",
isbn = "9783031635953",
series = "Springer Proceedings in Advanced Robotics",
publisher = "Springer Nature",
pages = "153--167",
editor = "{Ang Jr}, {Marcelo H.} and Oussama Khatib",
booktitle = "Experimental Robotics - The 18th International Symposium",
}