The Terminal Trajectory Drive and Control of a Three-Channel Soft Actuator

The nature of high flexibility and adaptability brings soft robot more potential applications on industry, therapy and many other fields. The terminal locomotion of a soft actuator can be flexible and random to some extent. At the same time, the model construction and locomotion control have some difficulties. Different from most soft actuators with single channel unit, a self-developed three-paralleled-channel pneumatic soft actuator has been already fabricated before. This paper aims to do a coupling control of three paralleled channels’ pressures and establish a pneumatic drive model of extruding and bending, and then present the terminal trajectory control system.