Soft grippers, with their inherent compliance and adaptability, show advantages for delicate and versatile manipulation tasks in robotics. This paper presents a novel approach to underactuated control of multiple soft actuators, explicitly focusing on the coordination of soft fingers within a soft gripper. Utilizing a single syringe pump as the actuation mechanism, we address the challenge of coordinating multiple degrees of freedom of a compliant system. The theoretical framework applies concepts from stable inversion theory, adapting them to the unique dynamics of the underactuated soft gripper. Through meticulous mechatronic system design and controller synthesis, we demonstrate the efficacy and applicability of our approach in achieving precise and coordinated manipulation tasks in simulation and experimentation. Our findings not only contribute to the advancement of soft robot control but also offer practical insights into the design and control of underactuated systems for real-world applications.

翻译：软体夹持器凭借其固有的柔顺性和适应性，在机器人精细灵巧操作任务中展现出优势。本文提出一种多软体执行器欠驱动控制的新方法，重点关注软体夹持器内软体手指的协调控制。利用单个注射泵作为驱动机构，我们解决了顺应性系统多自由度协调控制的难题。该理论框架应用稳定逆推理论的概念，并将其适配于欠驱动软体夹持器的独特动力学特性。通过精密的机电系统设计与控制器综合，我们在仿真与实验中验证了该方法在实现精确协调操作任务方面的有效性与适用性。本研究不仅推动了软体机器人控制领域的发展，更为实际应用中欠驱动系统的设计与控制提供了实用见解。