2021
Tracking Control of a Miniature 2-DOF Manipulator With Hydrogel Actuators
Azadeh Doroudchi, Roozbeh Khodambashi, Mohammad Sharifzadeh, Dongting Li, Spring Berman, Daniel M. Aukes
RA-L 2021
Due to the nature of the complex spatiotemporal dynamics of stimuli-responsive soft materials, closed-loop control of hydrogel-actuated mechanisms has remained a challenge. This letter demonstrates, for the first time, closed-loop trajectory tracking control in real-time of a millimeter-scale, two d