TY - JOUR
T1 - Controlling Soft Robots
T2 - Balancing Feedback and Feedforward Elements
AU - Della Santina, Cosimo
AU - Bianchi, Matteo
AU - Grioli, Giorgio
AU - Angelini, Franco
AU - Catalano, Manuel
AU - Garabini, Manolo
AU - Bicchi, Antonio
N1 - Publisher Copyright:
© 1994-2011 IEEE.
PY - 2017/9
Y1 - 2017/9
N2 - Soft robots (SRs) represent one of the most significant recent evolutions in robotics. Designed to embody safe and natural behaviors, they rely on compliant physical structures purposefully designed to embody desirable and sometimes variable impedance characteristics. This article discusses the problem of controlling SRs. We start by observing that most of the standard methods of robotic control-e.g., high-gain robust control, feedback linearization, backstepping, and active impedance control-effectively fight against or even completely cancel the physical dynamics of the system, replacing them with a desired model. This defeats the purpose of introducing physical compliance.
AB - Soft robots (SRs) represent one of the most significant recent evolutions in robotics. Designed to embody safe and natural behaviors, they rely on compliant physical structures purposefully designed to embody desirable and sometimes variable impedance characteristics. This article discusses the problem of controlling SRs. We start by observing that most of the standard methods of robotic control-e.g., high-gain robust control, feedback linearization, backstepping, and active impedance control-effectively fight against or even completely cancel the physical dynamics of the system, replacing them with a desired model. This defeats the purpose of introducing physical compliance.
UR - http://www.scopus.com/inward/record.url?scp=85019867673&partnerID=8YFLogxK
U2 - 10.1109/MRA.2016.2636360
DO - 10.1109/MRA.2016.2636360
M3 - Article
AN - SCOPUS:85019867673
SN - 1070-9932
VL - 24
SP - 75
EP - 83
JO - IEEE Robotics and Automation Magazine
JF - IEEE Robotics and Automation Magazine
IS - 3
M1 - 7930438
ER -