Vibration suppression control using a pattern generator for a robot driven by air actuators

For a communication robot like an android, air actuators are preferable because their elastic characteristics would reduce damages to the human or furnitures. However, due to the low controllability of the actuators and the complex structure, the robot makes undesirable motions such as vibrations. In order to overcome this problem, we propose a control method using a pattern generator and a reinforcement learning algorithm. We applied our method to the control of a 3-DOF robot, and the experimental result in simulation showed that undesirable vibrations can be suppressed by our method.