フクシマ　エドワルド　フミヒコ   福島 E.文彦    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2025/11
形態種別	学術論文
査読	査読あり
標題	Double Closed-Loop Adaptive Position Control Method for Continuum Robot With Soft Drives
執筆形態	共著
掲載誌名	IEEE Transactions on Cybernetics
掲載区分	国外
出版社・発行元	IEEE
巻・号・頁	pp.1-12
総ページ数	12
国際共著	国際共著
著者・共著者	Shiying Zhao, Qingxin Meng, Xuzhi Lai, Jinhua She, Edwardo Fumihiko Fukushima, Min Wu
概要	Continuum robots (CRs) show great potential in complex environments due to their excellent deformability. For practical applications, the position control of the CRs is an important research field. The common drives of the CRs are rigid motors with mature control schemes. However, the driving force of the rigid motors is often impactive, which may cause safety concerns during interaction. Soft drives based on pneumatic soft actuators (PSAs) can provide compliant driving force for the CRs robot bodies to solve this problem, but it is necessary to comprehensively consider the control of the soft drives and the robot bodies. This paper takes a CR with soft drives as the research objective, and proposes a double closed-loop adaptive position control method to achieve the endpoint position control of the CR. This CR includes a length-variable robot body with millimeter-scale diameter and pneumatic soft drives. The kinematic model of the robot body is built based on the piecewise constant curvature (PCC) method, and the static models of the soft drives are derived from the three-element model. Based on these models, we propose a double closed-loop adaptive position control method. The inner loop is used to control the displacements of the soft drives, and the outer loop combines the endpoint position control with the nonsingular fast terminal sliding mode function to adaptively control the endpoint position based on the inner loop. By Lyapunov method, we prove the convergence of the endpoint position error. The effectiveness of the proposed control method is verified through experiments.
外部リンクURL	https://doi.org/10.1109/TCYB.2025.3633656