Reproduce “Self-Sensing Feedback Control of an Electrohydraulic Robotic Shoulder” on OpenResearch
Turn your favorite coding agents into research agents that review literature, develop hypotheses, and run experiments.
Universal app for Apple silicon and Intel. Requires macOS 11 or later.
About this paper
Clemens C. Christoph, Amirhossein Kazemipour, Michel R. Vogt, Yu Zhang, Robert K. Katzschmann
Researchers at ETH Zurich developed a bio-inspired, two-degree-of-freedom robotic shoulder that achieves closed-loop position control using inherent self-sensing capabilities of its hydraulically amplified self-healing electrostatic (HASEL) actuators. This design eliminates the need for external sensors, demonstrating a compact and compliant system capable of tracking trajectories with an average root mean square error (RMSE) of 3.826 mm in the task space.
Key insights
- Integrating a low-voltage sensing electrode directly into HASEL actuator pouches enables inherent self-sensing capabilities, decoupling sensing from high-voltage actuation.
- A data-driven third-order polynomial regression model can effectively map self-sensing voltage signals from multiple HASEL actuators to estimate multi-DoF joint angles (pitch and roll) for proprioceptive feedback.
- Closed-loop position control of a 2-DoF robotic shoulder can be achieved solely using self-sensing HASEL actuators, eliminating the need for external sensors and supporting more compact, bio-inspired designs.
Summary by alphaXiv.
Tip: change arxiv.org to autoarxiv.org in any arXiv abstract link to open the paper here.