Source: China News Agency
Harbin Institute of Technology was released on the 17th. Professor Zhu Yanhe, deputy director of the National Key Laboratory of Robotics and Systems, developed a new TSM soft robotic hand in the team to achieve excellent variable stiffness range and precision movement control. Related results were achieved.Posted in the Robotics Field International Journal IEEE Robotics.
Soft robots like elephant nose or octopus tentacles are important branches in the field of software robotics. Scientists hope to develop soft robots as dexterous as arms and always maintain human safety during human -machine interaction.Therefore, the field of soft robotics requires more promising solutions, including more efficient structural design and precision motion controllers.
Professor Zhu Yanhe's team successfully developed a new TSM soft robotic hand, including a cone soft robot design and precision motion controller driven by composite tendon and pneumatic muscle hybrid.
The driving structure of the robot consists of the compound tendon and gas drive cone -shaped ripples composed of compound integrated integrated designs composed of the first bald tube and cable tendon proposed for the first time, achieving an excellent variable rigid range.
The control strategy of combining deep learning methods and closed -loop iteration feedback controller proposed by the team realizes the precision motion control of soft robotics.
The experimental results show that the millimeter -level control accuracy and the adaptability of external disturbances. The new TSM soft robotics successfully performed the more obstacle grabbing operation under the control of remote operation, which verified that it was tracked by the trajectory of the plane under the disturbance of the person's hand.The task ability provides a new solution for the design and control of soft robotics.
This research result is to disturb the precision motion controller with enhanced performance of tapered soft machines. IEEEAt the IEEE Transactions On Robotics, Robotics will help improve the precision motion control and disturbance of soft robotics. It is expected to be applied to the field of healthy pensions in the future.
