Development of a 6-DOF manipulator actuated with a straight-fiber-type artificial muscle

Author

Maeda, Hiroyuki ; Nagai, Hidekazu ; Nakamura, Taro

Author_Institution

Dept. of Precision Mech., Chuo Univ., Tokyo, Japan

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

607

Lastpage

612

Abstract

Robots have become an integral part of human life, and the relationship between humans and robots has grown closer. Thus, it is desired that robots have characteristics similar to humans. In this context, we paid attention to an artificial muscle actuator. We used straight-fiber-type artificial muscles, derived from the McKibben type, which have excellent characteristics with respect to the contraction rate and force. We developed a 6-DOF manipulator actuated by a straight fiber artificial muscle. Furthermore, we tried to control the manipulator position by considering its characteristics.

Keywords

manipulators; position control; 6-DOF manipulator; McKibben type; artificial muscle actuator; manipulator position control; robots; straight-fiber-type artificial muscle; Actuators; Glass; Human robot interaction; Intelligent robots; Manipulators; Medical robotics; Muscles; Position control; Safety; Torque control; 6-DOF manipulator; Inverse kinematics; Position control; Straight-fiber-type artificial muscle;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5354694

Filename

5354694