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

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

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

Publisher: Universidade da Coruña

Issued date: 2018-09-05

Citation: 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.

ISBN: 978-84-09-04460-3

DOI: https://doi.org/10.17979/spudc.9788497497565.0522

xmlui.dri2xhtml.METS-1.0.item-contributor-funder: Ministerio de Economía y Competitividad (España)

Sponsor: 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.

Project: Gobierno de España. DPI2016-75330-P

Keywords: Soft robotics neck , Cable-driven parallel , Mechanisms (CDPM) , Fractional order control , Robust control , Neck prototype

URI: http://hdl.handle.net/10016/30444

Rights: © 2018 The Authors.
Atribución-NoComercial 3.0 España

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 be [+]