System identification and closed-loop control of a hydraulically amplified self-healing electrostatic (HASEL) actuator
This paper describes a system identification method and the development of a closed-loop controller for a Hydraulically Amplified Self-healing Electrostatic (HASEL) actuator. Our efforts focus on developing a reliable and consistent way to identify system models for these soft robotic actuators using high-speed videography based motion tracking. Utilizing a mass-spring-damper model we are able to accurately capture the behavior of a HASEL actuator. We use the resulting plant model to design a Proportional-Integral controller that demonstrates improved closed-loop tracking and steady-state error performance.
| Author(s): | Cosima Schunk and Levi Pearson and Eric Acome and Timothy G Morrissey and Nikolaus Correll and Christoph Keplinger and Mark E Rentschler and J Sean Humbert |
| Book Title: | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) |
| Pages: | 6417--6423 |
| Year: | 2018 |
| Month: | October |
| Publisher: | IEEE |
| Bibtex Type: | Conference Paper (inproceedings) |
| Address: | Piscataway, NJ |
| DOI: | 10.1109/IROS.2018.8593797 |
| Event Name: | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) |
| Event Place: | Madrid |
| URL: | https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8593797 |
| Electronic Archiving: | grant_archive |
| Institution: | IEEE |
| ISBN: | 978-1-5386-8094-0 |
BibTex
@inproceedings{Keplinger18-Conf-SelfHealing,
title = {System identification and closed-loop control of a hydraulically amplified self-healing electrostatic (HASEL) actuator},
booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)},
abstract = {This paper describes a system identification method and the development of a closed-loop controller for a Hydraulically Amplified Self-healing Electrostatic (HASEL) actuator. Our efforts focus on developing a reliable and consistent way to identify system models for these soft robotic actuators using high-speed videography based motion tracking. Utilizing a mass-spring-damper model we are able to accurately capture the behavior of a HASEL actuator. We use the resulting plant model to design a Proportional-Integral controller that demonstrates improved closed-loop tracking and steady-state error performance.},
pages = {6417--6423},
publisher = {IEEE},
institution = {IEEE},
address = {Piscataway, NJ},
month = oct,
year = {2018},
slug = {keplinger18-conf-selfhealing},
author = {Schunk, Cosima and Pearson, Levi and Acome, Eric and Morrissey, Timothy G and Correll, Nikolaus and Keplinger, Christoph and Rentschler, Mark E and Humbert, J Sean},
url = {https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8593797},
month_numeric = {10}
}