The development of angle control system of pneumatic artificial muscle with AprilTag

Abstract

This research aims to develop a soft robot hand using pneumatic silicon artificial muscles and AprilTag, a type of AR marker. As a preliminary test, we will control the bending angle of the pneumatic artificial muscle. At first, getting the bending angle of the artificial muscle from AprilTag. In this way, AprilTag was used as a position sensor. And then, we found a formula to convert angle to pressure from the relationship between pressure and angle. At last, control the bending angle of the pneumatic artificial muscle using the ON/OFF control of the solenoid valves and the pressure control.