2016
Design and closed-loop control of a tri-layer Polypyrrole based telescopic soft robot
IROS 2016poster
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 develope…