Robust Intelligent Control of Underactuated Ground- based and Aerial Robots with Matched/Mismatched Uncertainties and Disturbances

Nemati, Hamidreza; Bandala Sanchez, Manuel

Abstract

Recently, inspired by nature, the evolution of novel materials and fabrication procedures for the design and control of soft-bodied robots have led to deformable actuators that are versatile, power-efficient, compliant, agile, self-healing and intelligent in ways akin to biological organisms. Although traditional rigid-bodied robots are extensively employed in industry, to perform a single task efficiently, they are often limited in terms of adaptability. Since rigid robots include rigid links and joints, they are not safe to interact with humans. Therefore, soft-bodied robots provide an opportunity to bridge the gap between machines and humans. These robots can employ soft actuators as Pneumatic Artificial Muscles (PAMs) or Fluidic Elastomer Actuators (FEAs) to be useful in hazardous environments such as snake-inspired robots to dismantle nuclear facilities.

• Presentation Conference Type: Presentation / Talk
• Conference Name: Intelligent Fluid Power transmission And Control (IFPAC) Workshop
• Start Date: Jul 2, 2019
• End Date: Jul 5, 2019
• Deposit Date: Apr 21, 2020
• Public URL: https://uwe-repository.worktribe.com/output/5908026