TY  - JOUR
AB  - The Bionic Handling Assistant is one of the largest soft continuum robots and very special in be-
ing a pneumatically operated platform that is able to bend, stretch, and grasp in all directions. It
nevertheless shares many challenges with smaller continuum and other softs robots such as parallel
actuation, complex movement dynamics, slow pneumatic actuation, non-stationary behavior, and a
lack of analytic models. To master the control of this challenging robot, we argue for a tight inte-
gration of standard analytic tools, simulation, control, and state of the art machine learning into an
overall architecture that can serve as blueprint for control design also beyond the BHA. To this aim,
we show how to integrate specific modes of operation and different levels of control in a synergistic
manner, which is enabled by using modern paradigms of software architecture and middleware. We
thereby achieve an architecture with unique overall control abilities for a soft continuum robot that
allow for exible experimentation towards compliant user-interaction, grasping, and online learning of
internal models.
DA  - 2015
DO  - 10.1080/01691864.2015.1037793
KW  - Continuum Robot
KW  - Soft Robot
KW  - Control Architecture
KW  - Middleware
KW  - Compliant Interaction
LA  - eng
IS  - 13: SI
M2  - 847
PY  - 2015
SN  - 0169-1864
SP  - 847-859
T2  - Advanced Robotics
TI  - A Multi-Level Control Architecture for the Bionic Handling Assistant
UR  - https://nbn-resolving.org/urn:nbn:de:0070-pub-27100971
Y2  - 2024-11-22T03:38:59
ER  -