Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-New research on robotics is the subjec t of a new report. According to news reporting from Boston, Massachusetts, by Ne wsRx journalists, research stated, "We demonstrate proprioceptive feedback contr ol of a one degree of freedom soft, pneumatically actuated origami robot and an assembly of two robots into a two degree of freedom system." The news reporters obtained a quote from the research from Northeastern Universi ty: "The base unit of the robot is a 41 mm long, 3-D printed Kresling-inspired s tructure with six sets of sidewall folds and one degree of freedom. Pneumatic ac tuation, provided by negative fluidic pressure, causes the robot to contract. Ca pacitive sensors patterned onto the robot provide position estimation and serve as input to a feedback controller. Using a finite element approach, the electrod e shapes are optimized for sensitivity at larger (more obtuse) fold angles to im prove control across the actuation range. We demonstrate stable position control through discrete-time proportional-integral-derivative (PID) control on a singl e unit Kresling robot via a series of static set points to 17 mm, dynamic set po int stepping, and sinusoidal signal following, with error under 3 mm up to 10 mm contraction. We also demonstrate a two-unit Kresling robot with two degree of f reedom extension and rotation control, which has error of 1.7 mm and 6.1°."
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NSTL