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PETER

This repository contains the necessary tools to work with the PETER robot. PETER is a modular pneumatic robot. Each module consists of 3 degrees of freedom. Low level control is done with Arduino and high level control with Python.

PETER

To cite: García-Samartín, J.F., Charles, M., del Cerro, J. and Barrientos, A., PETER: a Soft Pneumatic Manipulator with High Resistance and Load Capacity, 2024

Code structure

  • Code_arduino: low-level control code
  • Code_python: high-level control code
    • Tools: developped libraries (i.e. for kinematic modelling)
    • results: results of the different tests carried out
    • The primary folder contains the data set utilized for network training, the trained network itself, and the programs employed for training and movement testing.
  • STL: files used for the 3D-printing of the robot, using TPU 95A.

Videos

Some demo videos are available at https://drive.upm.es/s/sdvQicT6XiMP1li