摘要 : This work fits into the emerging field of soft robotics and presents the implementation of an under-actuated approach to dynamic control of pneumatic systems. An insight about the control method is provided. Afterwards, the analys... 展开 This work fits into the emerging field of soft robotics and presents the implementation of an under-actuated approach to dynamic control of pneumatic systems. An insight about the control method is provided. Afterwards, the analysis of two case studies is conducted, in terms of conceptual design, mechanical design and experimental validation. The first example involves a worm-like robot for pipe inspection, made up of soft and rigid components, while the second one consists in a two-fingered gripper, realized through soft continuum bending actuators. Both these systems are composed of multiple silicone chambers connected in parallel to a single pressure source. The method is based on the co-design of the mechanical properties of the system and of the time profile of the input to achieve different dynamical responses within a given set of desired behaviours. It is shown that a proper design of the chambers stiffness and damping enables to change the dynamic behaviour of the overall system by simply modulating the pressurization rate. 收起