Positive-negative pressure regulation is critical to soft robotic actuators, enabling large motion ranges and versatile actuation modes. However, achieving high-performance regulation across both pressure polarities remains challenging due to asymmetric inflation-deflation dynamics, valve nonlinearities, and switching-induced flow disturbances. This paper presents BiPneu, a scalable and cost-efficient multi-channel bipolar-pressure pneumatic system for soft robots that enables wide-range, accurate, and responsive pressure regulation while providing seamless compatibility with high-level software ecosystems. A dual-mode sliding-mode controller (DM-SMC) with hysteresis-supervised mode selection is proposed based on a hybrid electro-pneumatic model. Extensive simulation and experiments demonstrate the superior performance of DM-SMC in tracking step and sinusoidal pressure references compared with both advanced model predictive controllers and well-tuned PID controllers. Experimental results show average absolute errors of 1.44 kPa in multi-step tests and 4.23 kPa in sinusoidal tracking, corresponding to reductions of 11.9% and 35.6% relative to PID control, along with improved control effort, valve switching rate, and transient response. Robustness of DM-SMC is further verified on a bellow actuator with pressure-dependent volume. Finally, BiPneu's capability is demonstrated via two soft robotic examples, quick ball-maneuvering with a soft parallel manipulator and real-time finite element method (FEM)-based teleoperation of a soft bellows actuator.

翻译：正负压力调控对于软体机器人驱动器至关重要，能够实现大运动范围与多模式驱动。然而，由于充气-放气动力学不对称、阀门非线性以及切换引起的流量扰动，在两种压力极性下实现高性能调控仍具挑战。本文提出BiPneu——一种可扩展且经济高效的多通道双极性气动系统，为软体机器人提供宽范围、高精度、快响应的压力调控，同时兼容高层软件生态系统。基于混合电-气动模型，提出采用迟滞监督模式切换的双模滑模控制器（DM-SMC）。在阶跃与正弦压力参考跟踪中，大量仿真与实验表明DM-SMC相较于先进模型预测控制器与优化PID控制器具有更优性能。实验结果显示，多阶跃测试平均绝对误差为1.44 kPa，正弦跟踪误差为4.23 kPa，较PID控制分别降低11.9%与35.6%，且控制能耗、阀门切换速率与瞬态响应均有改善。通过压力依赖体积的波纹管驱动器进一步验证了DM-SMC的鲁棒性。最后，通过软体平行机械手快速控球与基于实时有限元法（FEM）的软体波纹管驱动器遥操作两个案例，展示了BiPneu的实际应用能力。