2000 character limit reached
Bond Graph Modelling and Simulation of Pneumatic Soft Actuator (2202.11468v1)
Published 23 Feb 2022 in cs.RO
Abstract: 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