Robotic Materials

System identification and closed-loop control of a hydraulically amplified self-healing electrostatic (HASEL) actuator

2018

Conference Paper

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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
Department(s): Robotic Materials
Bibtex Type: Conference Paper (inproceedings)
Paper Type: Conference
DOI: 10.1109/IROS.2018.8593797
Event Name: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
Event Place: Madrid
Address: Piscataway, NJ
Institution: IEEE
ISBN: 978-1-5386-8094-0
URL: https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8593797
Additional (custom) Fields:
acknowledgements: Our funding comes from the NSF Cyber-Physical Systems grant No. 1739452. We thank Angela Maio for her help in troubleshooting the communication scripts with the NI data acquisition board. We thank Shane Mitchell, Nick Kellaris, Khoi Ly and Mantas Naris for scientific discussions and helpful input.

BibTex 

@inproceedings{Keplinger18-Conf-SelfHealing,
  title = {System identification and closed-loop control of a hydraulically amplified self-healing electrostatic (HASEL) actuator},
  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},
  booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)},
  pages = {6417--6423},
  publisher = {IEEE},
  institution = {IEEE},
  address = {Piscataway, NJ},
  month = oct,
  year = {2018},
  doi = {10.1109/IROS.2018.8593797},
  url = {https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8593797},
  month_numeric = {10}
}