Modeling of braided pneumatic actuators for robotic control

Author

Colbrunn, Robb W. ; Nelson, Gabriel M. ; Quinn, Roger D.

Author_Institution

Case Western Reserve Univ., Cleveland, OH, USA

Volume

4

fYear

2001

fDate

2001

Firstpage

1964

Abstract

Braided pneumatic actuators exhibit non-linear force-length properties grossly similar to muscle, and have a high strength-to-weight ratio. These properties make them desirable for legged robots. The work emphasizes understanding the actuator properties for later use in simulation and control of legged robots. Static and dynamic mathematical models for the actuators are reported and verified through testing and simulation. In addition, a dynamic air flow model modulated by a solenoid valve was developed to provide modular actuation subroutines for simulation

Keywords

actuators; dynamics; legged locomotion; pneumatic control equipment; actuator properties; braided pneumatic actuators; dynamic air flow model; dynamic mathematical models; high strength-to-weight ratio; legged robots; nonlinear force-length properties; robotic control; solenoid valve; static mathematical models; Animals; Equations; Legged locomotion; Mathematical model; Muscles; Plugs; Pneumatic actuators; Robot control; Vehicle dynamics; Yarn;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.976361

Filename

976361