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This work is the result of research activities carried out at the Centre for Automation and Robotics, CAR (UPM-CSIC), in the facilities of the Escuela Tecnica Superior de Ingenieros Industriales, within the Robotics and Cybernetics research group (RobCib). This work is supported by "Ayudas para contratos predoctorales para la realizacion del doctorado con mencion internacional en sus escuelas, facultad, centros e institutos de I+D+i", which is funded by "Programa Propio I+D+i 2022 from Universidad Politecnica de Madrid" and by the "Proyecto CollaborativE Search And Rescue robots (CESAR)" (PID2022-142129OB-I00) funded by MCIN/AEI/10.13039/501100011033 and "ERDF/EU"

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PETER: a Soft Pneumatic Manipulator with High Resistance and Load Capacity

Publicat a:2024 7th Iberian Robotics Conference, Robot 2024. - 2024-01-01 (), DOI: 10.1109/ROBOT61475.2024.10796857

Autors: Francisco Garcia-Samartin, Jorge; Charles, Mathias; del Cerro, Jaime; Barrientos, Antonio

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Despite the numerous advantages offered by pneumatic actuators, it remains challenging to design robots that can simultaneously meet the diverse demands typically taken for granted in traditional robotics, such as repeatability, precision, and load capacity. This work presents PETER, a robotic platform formed by three actuators with high extension capacity and which, in addition, exhibits high repeatability, notable resistance to fatigue and, most notably, a high load capacity. This is made possible by the utilisation of a TPU structure deformed as a consequence of the inflation rubber airbags. To evaluate these attributes, a closed-loop controller based on neural networks has been implemented on PETER. Despite its simplicity, this controller achieves a precision of 2 degrees and is able to carry weights up to 500 g. The potential avenues for further research and development are outlined.

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