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Model-Based Data-Driven System Identification and Controller Synthesis Framework for Precise Control of SISO and MISO HASEL-Powered Robotic Systems

https://doi.org/10.1109/RoboSoft54090.2022.9762220

Volchko, Angella ; Mitchell, Shane K. ; Morrissey, Timothy G. ; Humbert, J. Sean ( April 2022 , IEEE 5th International Conference on Soft Robotics)

Soft robots require a complimentary control architecture to support their inherent compliance and versatility. This work presents a framework to control soft-robotic systems systematically and effectively. The data-driven model-based approach developed here makes use of Dynamic Mode Decomposition with control (DMDc) and standard controller synthesis techniques. These methods are implemented on a robotic arm driven by an antagonist pair of Hydraulically Amplified Self-Healing Electrostatic (HASEL) actuators. The results demonstrate excellent tracking performance and disturbance rejection, achieving a steady state error under 0.25% in response to step inputs and maintaining a reference orientation within 0.5 degrees during loading and unloading. The procedure presented in this work can be extended to develop effective and robust controllers for other soft-actuated systems without knowledge of their dynamics a priori.
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Miniaturized Circuitry for Capacitive Self-Sensing and Closed-Loop Control of Soft Electrostatic Transducers

https://doi.org/10.1089/soro.2020.0048

Ly, Khoi ; Kellaris, Nicholas ; McMorris, Dade ; Johnson, Brian K. ; Acome, Eric ; Sundaram, Vani ; Naris, Mantas ; Humbert, J. Sean ; Rentschler, Mark E. ; Keplinger, Christoph ; et al ( January 2020 , Soft Robotics)
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System Identification and Closed-Loop Control of a Hydraulically Amplified Self-Healing Electrostatic (HASEL) Actuator

https://doi.org/10.1109/IROS.2018.8593797

Schunk, Cosima ; Pearson, Levi ; Acome, Eric ; Morrissey, Timothy G. ; Correll, Nikolaus ; Keplinger, Christoph ; Rentschler, Mark E. ; Humbert, J. Sean ( October 2018 , 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS))

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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