DocumentCode
3142889
Title
Joint control of the six-legged robot AirBug driven by fluidic muscles
Author
Kerscher, T. ; Albiez, J. ; Berns, K.
Author_Institution
Forschungszentrum Informatik, Karlsruhe Univ., Germany
fYear
2002
fDate
9-11 Nov. 2002
Firstpage
27
Lastpage
32
Abstract
Pneumatic muscles as actuators offer several advantages due to their performance weight relation or to the passive compliance of this type of actuators. Passive compliance is an important component for the control of locomotion in rough terrain to absorb the power stroke energy. This paper presents the mechatronics of a six-legged insect-like robot AirBug with pneumatic muscles as actuators. The main focus lies on the control concept of the antagonistic actuators.
Keywords
actuators; legged locomotion; mechatronics; pneumatic systems; prosthetics; actuators; fluidic muscles; insect-like robot; locomotion; mechatronics; pneumatic muscles; power stroke energy; rough terrain; six-legged robot airbug; Animals; Climbing robots; Contacts; Foot; Gears; Legged locomotion; Mechatronics; Muscles; Pneumatic actuators; Propulsion;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN
83-7143-429-4
Type
conf
DOI
10.1109/ROMOCO.2002.1177079
Filename
1177079
Link To Document