PneuDrive实现16阀分布式气压控制，支持长距离高流量软体机器人实时调控。
PneuDrive: An Embedded Pressure Control System and Modeling Toolkit for Large-Scale Soft Robots
- 模块化气压控制系统，通过RS-485总线级联最多4个模块
- 可闭环控制16个阀门，压力范围0–100 psig（0–689 kPa），支持超10米传输
- 提供ROS与Python双接口，内置3种动态建模工具包用于实时仿真
本文提出一种名为PneuDrive的模块化气压控制系统，适用于大规模气动驱动软体机器人。该系统特别适合需要分布式压力控制和高流量的应用场景。最多可将四个嵌入式压力控制模块通过坚固的RS-485总线级联，实现对多达16个阀门的闭环控制，工作压力范围为0–100 psig（0–689 kPa），传输距离超过10米。系统默认配置为C++ ROS节点，同时提供独立于ROS的Python接口及脚本化API以增强灵活性。我们通过三关节连续型软体机器人（含12个不同压力输入）的轨迹跟踪实验验证了PneuDrive的实现效果。此外，还提出了一个建模工具包，包含三种适用于实时仿真与控制的动态驱动模型。通过实际数据定制各模型并评估性能，结果可为选择合适驱动模型提供系统性参考。相关视频演示见：https://bit.ly/3QkrEqO。
原文摘要 · Abstract (English)
In this paper, we present a modular pressure control system called PneuDrive that can be used for large-scale, pneumatically-actuated soft robots. The design is particularly suited for situations which require distributed pressure control and high flow rates. Up to four embedded pressure control modules can be daisy-chained together as peripherals on a robust RS-485 bus, enabling closed-loop control of up to 16 valves with pressures ranging from 0-100 psig (0-689 kPa) over distances of more than 10 meters. The system is configured as a C++ ROS node by default. However, independent of ROS, we provide a Python interface with a scripting API for added flexibility. We demonstrate our implementation of PneuDrive through various trajectory tracking experiments for a three-joint, continuum soft robot with 12 different pressure inputs. Finally, we present a modeling toolkit with implementations of three dynamic actuation models, all suitable for real-time simulation and control. We demonstrate the use of this toolkit in customizing each model with real-world data and evaluating the performance of each model. The results serve as a reference guide for choosing between several actuation models in a principled manner. A video summarizing our results can be found here: https://bit.ly/3QkrEqO.
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