RBE RBE Masters Presentation
Sayan Das
Vision Based Control of Encoderless Soft Robottic Haptic Feedback
Monday, August 14th, 2023
11:00 AM - 12:00 PM
Location: Unity Hall Room 150E
Abstract: Soft robots, characterized by their pliable and flexible structures, offer unique capabilities and have the potential to revolutionize industries ranging from healthcare to exploration. However, the diverse spectrum of innovative actuation mechanisms and their associated kinematics present challenges in achieving precise control over their movements. In this project, we established the kinematics of a cable actuated soft robot and developed algorithms to control the motion of its end effector. In addition, we accomplished this task without using any encoder information. Encoder-based control systems can be costly, complex and might develop errors over time due to mechanical wear or slippage. By eliminating the dependency on encoders, our project not only reduces the overall cost of robotic systems but also enhances their overall robustness, thereby making robots more accessible to broader applications. We processed data from a camera in real time to track the state of the robot which was then used as feedback for our control algorithms. This comprehensive vision-based control approach was validated through numerous experiments on a real robot.
Advisor:
Professor Berk Calli, Worcester Polytechnic Institute (WPI)