Soft Pneumatic Arm
The inhouse developed soft, inflatable robotic arm with two degrees of freedom. The links and actuators are all made from fabric and a suction gripper is used as end effector.
Background
The goal of this project is to develop a soft inflatable robotic arm and to investigate suited control algorithms for this novel type of manipulator. Inflatable robotic arms made from fabric have a considerably lower inertia and higher compliance compared to classic industrial robots. Therefore, the potential harm such a manipulator can cause to its environment is much smaller and allows for a safe interaction with humans.
Research on Learning Control Algorithms
The viscoelastic behavior of the soft materials employed makes accurate control with this type of system challenging. Model-based learning control approaches are investigated to improve control performance and realize fast applications.
