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Title: 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.
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Award ID(s):
Publication Date:
Journal Name:
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Page Range or eLocation-ID:
6417 to 6423
Sponsoring Org:
National Science Foundation
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