Control of Pneumatic Soft Robots

Soft robots have demonstrated outstanding performance in many application areas including manufacturing operations, grasping motion, human-robot interaction, etc. As a very important component in soft robot, the soft actuator provides the system with the ability to deform, and its inherent flexibility and adaptability enable soft robots to engage in desired modes of interaction with the environment. Soft fluid actuators consisting of elastomer matrices embedded in flexible materials are of particular interest. For the community, the ability to be low-cost and easy to deploy according to a given application scenario makes it possible. In this chapter, the control method of pneumatically actuated soft robots will be introduced, including the characteristics of pneumatic actuation and related control methods.