Bond Graph Modelling and Simulation of Pneumatic Soft Actuator
This work addresses the problem of developing bio-inspired soft actuators for robotics, but it appears incremental as it applies an existing modeling method to a specific actuator type.
The paper tackled the design and dynamic modeling of a soft pneumatic actuator for mimicking snake or worm-like locomotion, using bond graph techniques and numerical simulations, with experimental results showing the actuator achieves bi-directional bending and linear displacement.
This paper presents the design and dynamic modelling of a soft pneumatic actuator that can be used to mimic snake or worm-like locomotion. The bond graph technique is used to derive the dynamics of the actuator. To validate the accuracy of the derived dynamic model, we conduct numerical simulations using 20-sim software. Experimental results demonstrate that the soft actuator achieves bi-directional bending and linear displacement, which is essential for mimicking snake or worm-like locomotion