IROS 2016poster15 citations
Design and closed-loop control of a tri-layer Polypyrrole based telescopic soft robot
Mohamed Taha Chikhaoui, Amélie Cot, Kanty Rabenorosoa, Patrick Rougeot, Nicolas Andreff
Abstract
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 developed. A prototype is presented and the control schemes are validated experimentally. A satisfactory accuracy with a submillimetric positioning error is obtained namely 287.6 microns for a circular path and 210 microns for obstacle avoidance.
BibTeX
@inproceedings{iros2016_designandclosedl,
title = {Design and closed-loop control of a tri-layer Polypyrrole based telescopic soft robot},
author = {Mohamed Taha Chikhaoui and Amélie Cot and Kanty Rabenorosoa and Patrick Rougeot and Nicolas Andreff},
booktitle = {IROS 2016},
year = {2016}
}