Multiple Simultaneous Specification Control of Antagonistic Actuation by Pneumatic Artificial Muscles
نویسندگان
چکیده
منابع مشابه
Robust Control Law for Pneumatic Artificial Muscles
This paper presents a modified integral sliding surface, sliding mode control law for pneumatic artificial muscles. The cutoff frequency tuning parameter λ is squared to increase the gradient from absement (integral of position) to position and higher derivatives to reflect the more dominant terms in the actuator dynamics. The sliding mode controller is coupled with proportional and integral ac...
متن کاملPneumatic Artificial Muscles
This paper reports mechanical tasting and modeling results for the McKibben artificial muscle pneumatic actuator. This device, first developed in the 1950’s, contains an expanding tube surrounded by braided cords. We report static and dynamic length-tension testing results and derive a linearized model of these properties for three different models. The results are brieffy compared with human m...
متن کاملControl architecture of LUCY, a Biped with Pneumatic Artificial Muscles
This paper describes the biped Lucy and it’s control architecture that will be used. Lucy is actuated by Pleated Pneumatic Artificial Muscles, which have a very high power to weight ratio and an inherent adaptable compliance. These characteristics will be used to let Lucy walk in a dynamically stable manner while exploiting the adaptable passive behaviour of these muscles. A quasi-static global...
متن کاملDesign and Control of a 3D Biped Robot Actuated by Antagonistic Pairs of Pneumatic Muscles
A joint driving mechanism with antagonistic pairs of muscles is supposed to be essential for humans and animals to realize various kinds of locomotion such as walking, running, and jumping. This paper describes design and control of a biped robot “Pneu–Man” whose joints are driven by antagonistic pairs of McKibben artificial muscles. Since the body is welldesigned for walking, required control ...
متن کاملIntroducing Pleated Pneumatic Artificial Muscles for the Actuation of Legged Robots : a One-dimensional Setup
This paper reports on the use of a new actuator, called Pleated Pneumatic Artificial Muscle, in a one dimensional set-up, it is build as a footless leg with only the knee powered by a pair of Pleated Pneumatic Artificial Muscles. The main goal of this study is the evaluation of the adaptable passive behaviour of these Artificial Muscles in a leg, which can be exploited for an energy efficient w...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: The Journal of Korea Robotics Society
سال: 2011
ISSN: 1975-6291
DOI: 10.7746/jkros.2011.6.1.034