The Structure, Design, and Closed-Loop Motion Control of a Differential Drive Soft Robot

Area of Science:

• Robotics
• Soft Robotics
• Biomimetic Design

Background:

• Soft robots offer unique advantages in adaptability and safety.
• Pneumatic actuation is a common method for soft robot movement.
• Controlling the complex, nonlinear dynamics of soft robots remains a challenge.

Purpose of the Study:

• To present the structure, design, and motion control of an inchworm-inspired pneumatic soft robot.
• To enable differential movement, including linear and turning capabilities.
• To develop a robust control system for navigating diverse terrains.

Main Methods:

• The robot utilizes two columns of pneumatic multi-airbags as actuators.
• Radial basis function neural networks were employed to model turning behavior.
• A closed-loop automatic control model was established using a three-axis electronic compass sensor.

Main Results:

• The robot demonstrated the ability to perform both linear and turning movements.
• A mathematical model was created relating friction, deflection angle, and inflation time.
• Experimental verification confirmed the effectiveness of the closed-loop control system.

Conclusions:

• The developed inchworm-inspired soft robot successfully executes controlled linear and turning motions.
• The integration of pneumatic actuators and advanced control strategies enables versatile locomotion.
• This research contributes to the advancement of autonomous soft robotic systems.