Inverted pendulum driven by a flexible pneumatic actuator

An innovative inverted pendulum system stabilized by a pneumatic flexible actuator was designed and built. The setup was designed to demonstrate the control capabilities of soft actuators (soft robotics), which are increasingly common in the field of robotics. Flexible pneumatic actuators are made of soft materials and are driven by compressed air, which allows for smoother and safer movements compared to rigid actuators. The actuator is made of silicone and consists of a left and right chamber connected by an inelastic layer. By inflating one chamber, the actuator bends in the opposite direction. The inverted pendulum system is nonlinear and inherently unstable, and as such is extremely interesting for testing advanced control methods. Potential applications of such a system include educational platforms, biomechanics, safe human-robot interaction, and the development of adaptive robotic systems for operation in unpredictable environments.