A Desktop-sized Platform for Real-time Control Applications of Pneumatic Soft Robots

Code for Raspberry Pi and Matlab/Simulink

1. Reproduction of the VEAB controller RPi hat

Publication

Paper presented at the International Conference on Soft Robotics (RoboSoft), 2022.

Click here: URL

The work can cited as follows:

Caasenbrood, B, van Beek, F, Hoang Khanh, C, and Kuling, I. "A Desktop-sized Platform for Real-time Control Applications of Pneumatic Soft Robots". International Conference on Soft Robotics (RoboSoft), 2022, pp. 217-223, doi:10.1109/RoboSoft54090.2022.9762137.

@inproceedings{Caasenbrood2022,
	author = {Caasenbrood, Brandon J. and van Beek, Femke E. and Chu, Hoang Khanh and Kuling, Irene A.},
	title = {{A Desktop-sized Platform for Real-time Control Applications of Pneumatic Soft Robots}},
	booktitle = {{2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)}},
	journal = {2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)},
	pages = {217--223},
	year = {2022},
	month = apr,
	publisher = {IEEE},
	doi = {10.1109/RoboSoft54090.2022.9762137}
}

Log changes:

• Nov 10, 2021: Updated Festo control board with correct diode configuration. Also, a 500mA thermal fuse is added for safety in case of short circuit.
• Dec 7, 2021: Changed resistor values of OPAMP for the ADC on the Festo control board. Amplifcation factor is now 1/5 instead of 1/2 : 10v - 2.0v. This allows compatability with the ADS1013 (and any ADS10xx variant with Programmable Gains).