Title :
Evaluation of the Dynamic Model of Fluidic Muscles using Quick-Release
Author :
Kerscher, T. ; Albiez, J. ; Zöllner, J.M. ; Dillmann, R.
Author_Institution :
Forschungszentrum Informatik, Karlsruhe
Abstract :
By using artificial muscles in robotics one can use the analogy of the biological motor for locomotion or manipulation. There are a lot of advantages like the passive damping, good power-weight ratio and usage in rough environments. The main drawback of this muscle is that their dynamic behavior is highly nonlinear. Due to this a deep knowledge of the muscle properties and behaviors is needed to use the artificial muscle in robotics. By using the different published muscle models and our own experience we developed an advanced model for the muscle force. To validate this model a set-up like the well known quick-release test for biological muscles is used. In the future the advanced model of the fluidic muscle will help to improve the behavior of the robot PANTER and is the first step in building a biomechanical inspired two-legged robot that is able to run and walk elastically
Keywords :
biomechanics; fluidic devices; legged locomotion; muscle; robot dynamics; artificial muscles; biological motor; biomechanical inspired two-legged robot; dynamic model evaluation; fluidic muscles; passive damping; power-weight ratio; quick-release test; robot PANTER; rough environment usage; Actuators; Algorithm design and analysis; Biological system modeling; Damping; Fluid dynamics; Legged locomotion; Muscles; Robots; Rubber; Testing;
Conference_Titel :
Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on
Conference_Location :
Pisa
Print_ISBN :
1-4244-0040-6
DOI :
10.1109/BIOROB.2006.1639161
