Title :
Design, analysis, and control of a low power joint for walking robots, by phasic activation of McKibben muscles
Author :
Van der Linde, Richard Q.
Author_Institution :
Delft Univ. of Technol., Netherlands
fDate :
8/1/1999 12:00:00 AM
Abstract :
Describes the development of an efficient mechanical oscillator. It is capable of combining the energetic advantages of ballistic movement with cycle adjustability and active orbital control. Pneumatic artificial McKibben muscles are used as variable springs, from which the stiffness is varied in order to induce a limit cycle
Keywords :
actuators; control system synthesis; legged locomotion; limit cycles; pneumatic control equipment; McKibben muscles; active orbital control; ballistic movement; cycle adjustability; low power joint; mechanical oscillator; phasic activation; stiffness; variable springs; walking robots; Actuators; Energy consumption; Frequency; Legged locomotion; Limit-cycles; Muscles; Oscillators; Recycling; Rehabilitation robotics; Springs;
Journal_Title :
Robotics and Automation, IEEE Transactions on
