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

Nemati, Hamidreza; Bandala Sanchez, Manuel

Authors

Manuel Bandala Sanchez



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.

Citation

Nemati, H., & Bandala Sanchez, M. (2019, July). Robust Intelligent Control of Underactuated Ground- based and Aerial Robots with Matched/Mismatched Uncertainties and Disturbances. Presented at Intelligent Fluid Power transmission And Control (IFPAC) Workshop, University of Bath, UK

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