Matheus S. Xavier

2 accepted papers

2021

A Control and Drive System for Pneumatic Soft Robots: PneuSoRD

Taylor R. Young, Matheus S. Xavier, Yuen K. Yong, Andrew J. Fleming

IROS 2021poster

This article describes an open-source hardware platform for controlling pneumatic soft robotic systems and presents the comparison of control schemes with on-off and proportional valves. The Pneumatic Soft Robotics Driver (PneuSoRD) can be used with up to one pump and pressure accumulator, 26 on-off…

Cited by 21 Source ↗Scholar ↗

2021

Design and Control of Pneumatic Systems for Soft Robotics: A Simulation Approach

Matheus S. Xavier, Andrew J. Fleming, Yuen Kuan Yong

RA-L 2021

Pressure control plays a major role in the overall performance of fluid-driven soft robots. Due to the increasing demand for higher speed actuation and precision, a need exists for a practical design methodology that converts actuator performance specifications to a set of minimum pneumatic specific

Cited by 41 Source ↗Scholar ↗