A First Approach to a Proposal of a Soft Robotic Link Acting as a Neck

Nagua Cuenca, Luis Fernando; Muñoz Yáñez-Barnuevo, Jorge; Monje Micharet, Concepción Alicia; Balaguer Bernaldo de Quirós, Carlos

Publication:
A First Approach to a Proposal of a Soft Robotic Link Acting as a Neck

dc.affiliation.dpto	UC3M. Departamento de Ingeniería de Sistemas y Automática	es
dc.affiliation.grupoinv	UC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)	es
dc.contributor.author	Nagua Cuenca, Luis Fernando
dc.contributor.author	Muñoz Yáñez-Barnuevo, Jorge
dc.contributor.author	Monje Micharet, Concepción Alicia
dc.contributor.author	Balaguer Bernaldo de Quirós, Carlos
dc.contributor.funder	Ministerio de Economía y Competitividad (España)	es
dc.date.accessioned	2020-05-19T14:32:32Z
dc.date.available	2020-05-19T14:32:32Z
dc.date.issued	2018-09-05
dc.description	This paper has been presented at XXXIX Jornadas de Automática.	en
dc.description.abstract	The purpose of this paper is to design a soft robotic neck prototype with two Degrees of Freedom (DOF) and propose a control system based on a fractional order PD controller (FPD). The neck will be able to perform movements of flexion, extension and lateral bending. To achieve these movements, the design is made based on a cable-driven mechanism, with components easy to manufacture in a 3D printer. Simulations are performed to validate the feasibility of the developed parallel robot prototype and the robustness of the proposed control scheme to mass changes at the tip.	es
dc.description.sponsorship	The research leading to these results has received funding from the HUMASOFT project, with reference DPI2016-75330-P, funded by the Spanish Ministry of Economy and Competitiveness.	en
dc.format.extent	8
dc.identifier.bibliographicCitation	Nagua, L., Muñoz, J., Monje, C.A., Balaguer, C. (2018). A first approach to a proposal of a soft robotic link acting as a neck. En Actas de las XXXIX Jornadas de Automática, pp.522-529.	en
dc.identifier.doi	https://doi.org/10.17979/spudc.9788497497565.0522
dc.identifier.isbn	978-84-09-04460-3
dc.identifier.publicationfirstpage	522
dc.identifier.publicationlastpage	529
dc.identifier.publicationtitle	Actas de las XXXIX Jornadas de Automática	es
dc.identifier.uri	https://hdl.handle.net/10016/30444
dc.identifier.uxxi	CC/0000030147
dc.language.iso	eng	en
dc.publisher	Universidade da Coruña	es
dc.relation.eventdate	05-07 September 2018	en
dc.relation.eventplace	Badajoz, España	es
dc.relation.eventtitle	XXXIX Jornadas de Automática	es
dc.relation.projectID	Gobierno de España. DPI2016-75330-P	es
dc.rights	© 2018 The Authors.	en
dc.rights	Atribución-NoComercial 3.0 España	*
dc.rights.accessRights	open access	en
dc.rights.uri	http://creativecommons.org/licenses/by-nc/3.0/es/	*
dc.subject.eciencia	Robótica e Informática Industrial	es
dc.subject.other	Soft robotics neck	en
dc.subject.other	Cable-driven parallel	en
dc.subject.other	Mechanisms (CDPM)	en
dc.subject.other	Fractional order control	en
dc.subject.other	Robust control	en
dc.subject.other	Neck prototype	en
dc.title	A First Approach to a Proposal of a Soft Robotic Link Acting as a Neck	en
dc.type	conference paper	*
dc.type.hasVersion	AM	*
dspace.entity.type	Publication