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doi:10.22028/D291-43605
Titel: | Sensorless Proprioception in Multi-DoF Dielectric Elastomer Soft Robots via System-Level Self-Sensing |
VerfasserIn: | Prechtl, Johannes Baltes, Matthias Flaßkamp, Kathrin Rizzello, Gianluca |
Sprache: | Englisch |
Titel: | IEEE ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society, the IEEE Robotics and Automation Society and the ASME Dynamic Systems and Control Division |
Seiten: | 1-12 |
Verlag/Plattform: | IEEE |
Erscheinungsjahr: | 2024 |
Freie Schlagwörter: | Robot sensing systems Soft robotics Voltage measurement Actuators Robots Bending Real-time systems |
DDC-Sachgruppe: | 620 Ingenieurwissenschaften und Maschinenbau |
Dokumenttyp: | Journalartikel / Zeitschriftenartikel |
Abstract: | Proprioception in soft robots remains an ongoing challenge, owing to practical issues such as tight sensor integration while maintaining mechanical compliance. Soft robots based on dielectric elastomer (DE) technology could provide a compelling answer to these challenges, due to the inherent flexibility and compliance of such transducers as well as their ability to simultaneously work as actuators and sensors, i.e., self-sensing. In this work, we propose a novel real-time self-sensing scheme for DE soft robotic systems. By combining an actuator-level recursive least squares identification with an extended Kalman filter, our architecture provides an estimation of the mechanical state of the structure without requiring additional electro-mechanical sensors, solely relying on electrical measurements performed on the DEs during high voltage actuation. Experimental validation, conducted on a DE soft robot prototype, reveals that the proposed solution reconstructs the system state during actuation in a robust and accurate way, and under various external loading conditions. |
DOI der Erstveröffentlichung: | 10.1109/TMECH.2024.3375923 |
URL der Erstveröffentlichung: | https://ieeexplore.ieee.org/document/10484978 |
Link zu diesem Datensatz: | urn:nbn:de:bsz:291--ds-436057 hdl:20.500.11880/39070 http://dx.doi.org/10.22028/D291-43605 |
ISSN: | 1941-014X 1083-4435 |
Datum des Eintrags: | 29-Nov-2024 |
Fakultät: | NT - Naturwissenschaftlich- Technische Fakultät |
Fachrichtung: | NT - Systems Engineering |
Professur: | NT - Prof. Dr. Stefan Seelecke |
Sammlung: | SciDok - Der Wissenschaftsserver der Universität des Saarlandes |
Dateien zu diesem Datensatz:
Datei | Beschreibung | Größe | Format | |
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Sensorless_Proprioception_in_Multi-DoF_Dielectric_Elastomer_Soft_Robots_via_System-Level_Self-Sensing.pdf | 5,42 MB | Adobe PDF | Öffnen/Anzeigen |
Diese Ressource wurde unter folgender Copyright-Bestimmung veröffentlicht: Lizenz von Creative Commons