DocumentCode
1611863
Title
Controller Design for Robot with Pneumatic Artificial Muscles
Author
Tsujil, Toshiaki ; Miyata, Shunsuke ; Hashimoto, Takuya ; Kobayashi, Hiroshi
Author_Institution
Dept. of Mech. Eng., Tokyo Univ. of Sci.
fYear
2006
Firstpage
5419
Lastpage
5422
Abstract
This paper addresses a control issue of a robot with antagonistic McKibben artificial muscle. It is already shown that antagonized arrangement cancels some disadvantages of McKibben muscles. It also realizes control of both joint stiffness and joint torque. This study proposes a novel method to improve control bandwidth by adjusting joint stiffness. Joint stiffness is manipulated according to requested specification such as control bandwidth and compatibility to human. Experimental results verify the validity of the proposed method
Keywords
control system synthesis; manipulator dynamics; manipulator kinematics; pneumatic actuators; antagonistic actuation; manipulator dynamics; manipulator kinematics; pneumatic McKibben artificial muscle; robot controller design; Actuators; Bandwidth; Humans; Manipulators; Muscles; Pressure control; Regulators; Robot control; Springs; Torque control; McKibben artificial muscle; antagonistic actuation; pneumatic system; variable stiffness;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE-ICASE, 2006. International Joint Conference
Conference_Location
Busan
Print_ISBN
89-950038-4-7
Electronic_ISBN
89-950038-5-5
Type
conf
DOI
10.1109/SICE.2006.315536
Filename
4108750
Link To Document