Imperial College London
Portrait Picture

DrJamesAvery

Faculty of Medicine, Department of Surgery & Cancer

Honorary Lecturer
 
 
 
//

Contact

 

james.avery Website

 
 
//

Location

 

036Paterson WingSt Mary's Campus

//

Summary

 

Publications

Citation

BibTex format

@inproceedings{Runciman:2023:10.1109/ICRA48891.2023.10161573,
author = {Runciman, M and Franco, E and Avery, J and Rodriguez, y Baena F and Mylonas, G},
doi = {10.1109/ICRA48891.2023.10161573},
pages = {1--7},
publisher = {IEEE},
title = {Model based position control of soft hydraulic actuators},
url = {http://dx.doi.org/10.1109/ICRA48891.2023.10161573},
year = {2023}
}
Download

RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - In this article, we investigate the model based position control of soft hydraulic actuators arranged in an an-tagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm is designed with an energy shaping approach, which accounts for the pressure dynamics of the fluid. A nonlinear observer is included to compensate the effect of unknown external forces. Simulations demonstrate the effectiveness of the proposed approach, and experiments achieve positioning accuracy of 0.043 mm with a standard deviation of 0.033 mm in the presence of constant external forces up to 1 N.
AU  - Runciman,M
AU  - Franco,E
AU  - Avery,J
AU  - Rodriguez,y Baena F
AU  - Mylonas,G
DO  - 10.1109/ICRA48891.2023.10161573
EP  - 7
PB  - IEEE
PY  - 2023///
SP  - 1
TI  - Model based position control of soft hydraulic actuators
UR  - http://dx.doi.org/10.1109/ICRA48891.2023.10161573
UR  - https://ieeexplore.ieee.org/abstract/document/10161573
UR  - http://hdl.handle.net/10044/1/104013
ER  -
Download