In-Situ Sensing and Dynamics Predictions for Electrothermally-Actuated Soft Robot Limbs

In-Situ Sensing and Dynamics Predictions for Electrothermally-Actuated Soft Robot Limbs

Untethered soft robots that locomote using electrothermally-responsive materials like shape memory alloy (SMA) face challenging design constraints for sensing actuator states. At the same time, modeling of actuator behaviors faces steep challenges, even with available sensor data, due to complex ele...

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Bibliographic Details
Main Authors: Andrew P. Sabelhaus, Rohan K. Mehta, Anthony T. Wertz, Carmel Majidi
Format: Article
Language:English
Published: Frontiers Media S.A. 2022-05-01
Series:Frontiers in Robotics and AI
Subjects:
soft robot control
soft robot sensing
soft robot dynamics
soft robot modeling
machine learning
sensor design
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2022.888261/full

Internet

https://www.frontiersin.org/articles/10.3389/frobt.2022.888261/full

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